tend to linearize the dynamics along trajectories but when if you learn a latent space model where it's already linear we already good to go and that linearization will not be an approximation or actually be the action model that you learn to that be nice to have a very big fit of your linear model to the absolute veneks so the costs are often assumed to be quadratic so that's that's an assumption to make you know this class of problems called lqr problems later through out of control problems sometimes LQG problems if you