that when we optimize our controls we get something then when it works in simulation also works in real world now we're going to force that to be true by learning a model that does this by construction so let's look at that model here's the next component we already have our encoder decoder we have our control input u so in controls usually he was used for control input and reinforcement often a is used for action controls need for controls then we have our next latent state CP plus 1 now for this to be meaningful the same decoder