control will learn a latent space model using pressure on encoder while forcing a locally linear latent space dynamics model so once you have a local inner model you can apply stochastic optimal control is an example that in action where once you have such a model is very easy to find the controller that brings you to a target and say a stable fixed point thanks to that controller or just to work well locally along this trajectory you seem to have linear dynamics models and in fact the way this methods work is they