Control system using autoencoder

A control system comprising:

• a memory storing a sequence of sensor data received from one or more sensors, the sensor data depicting an object;
• a pose detector which processes the sensor data to compute a sequence of values of pose parameters of the object by fitting a parameterized model to the sensor data;
• an autoencoder configured to:
• receive the sequence of pose parameter values;
• compute a forward prediction of the sequence of derived sensor data values in latent space;
• and
• decode the forward prediction of the sequence of derived sensor data values in latent space to provide a forward prediction of the sequence of pose parameter values, the autoencoder having been trained by imposing a relationship on positions of the pose parameter values encoded in the latent space of the autoencoder;
• and
• a processor configured to initiate control of an apparatus using the forward prediction of the sequence of derived sensor data values.