also have some use to bestest be in there and these problems assume that you have linear dynamics and quadratic costs without a cost meaning there's a quadratic penalties for being away from the state where you're supposed to be okay so of course we can't just throw from our original pixel observations to some space where the NamUs is linear and ignore the real-world dynamics esta map button my lab back out to real world to them so let's look at the complete loss function to look at first of all go to latent space see you need to be able to