reconstruct the original language so Z should not lose important information about what is happening or what's the situation here then we have this temporal aspect here and I'll Polly want to reach a goal and want to have long-term act prediction that in the end put the sequence of actions that are keys the goal it also predicts that's going to be the case so every step along the way we're gonna have prediction for when and use linear models so prediction must be locally analyzable for all valid control magnitudes such