@ -154,7 +154,7 @@ What kind of turbulences exist?
When does the canoeist fall down?
How do the actions influence the system?
We formulate a graphical model in \cref{fig:graphical_model}based on the Multi-Modal Deep GP model~\cite{kaiser_data_2018}, which allows us to handle the multi-modality introduced by falling down the waterfall.
We formulate a graphical model in \cref{fig:graphical_model}using the data association with GPs (DAGP) model~\cite{kaiser_data_2018}, which allows us to handle the multi-modality introduced by falling down the waterfall.
We specify this separation via the marginal likelihood
\begin{align}
\begin{split}
@ -248,7 +248,7 @@ Importantly, we only need a small number of Monte Carlo samples at every iterati