├── LICENSE ├── README.md ├── base ├── applyController.m ├── calcCost.m ├── learnPolicy.m ├── pred.m ├── predcost.m ├── prop.pdf ├── propagate.m ├── propagated.m ├── rollout.m ├── simulate.m ├── trainDynModel.m └── value.m ├── control ├── conCat.m ├── conCat.m~ ├── congp.m └── conlin.m ├── doc ├── 3dplot.sty ├── covFunctions.m ├── doc.aux ├── doc.log ├── doc.out ├── doc.pdf ├── doc.tex ├── doc.toc ├── figures │ ├── cartPole.pdf │ ├── cdp_sketch.pdf │ ├── cost_error_bar.pdf │ ├── cp.pdf │ ├── cp_rollout.pdf │ ├── example_trajectories.pdf │ ├── example_trajectories2.pdf │ ├── fX3.pdf │ ├── flow.pdf │ ├── learnP.pdf │ ├── pendubot.pdf │ ├── pendulum.pdf │ ├── pendulum.pdf.ipe7 │ ├── policy_opt.pdf │ ├── preliminary_policy.pdf │ ├── satLossPlot.pdf │ ├── squashed_preliminary_policy.pdf │ ├── squashing_fct.pdf │ ├── squashing_fct2.pdf │ ├── squashing_function.pdf │ ├── unicoords_body.tex │ ├── unicoords_body.tex~ │ ├── unicoords_frame.tex │ ├── unicoords_frame.tex~ │ ├── unicoords_frame2.tex │ ├── unicoords_frame2.tex~ │ ├── unicoords_turntable.tex │ ├── unicoords_turntable.tex~ │ ├── unicoords_turntable2.tex │ ├── unicoords_turntable2.tex~ │ ├── unicoords_wheel.tex │ ├── unicoords_wheel.tex~ │ ├── unicoords_wheel2.tex │ ├── unicoords_wheel2.tex~ │ └── unicycle.pdf ├── generate_docs.m ├── header.tex ├── html │ ├── DoublePend_learn.html │ ├── applyController.html │ ├── augment_unicycle.html │ ├── augment_unicycle_eq57428.png │ ├── calcCost.html │ ├── cartDouble_learn.html │ ├── cartPole_learn.html │ ├── checkgrad.html │ ├── conCat.html │ ├── conCat_eq10310.png │ ├── conCat_eq35435.png │ ├── conT.html │ ├── conT_eq96160.png │ ├── congp.html │ ├── congp_eq35435.png │ ├── congp_eq43551.png │ ├── conlin.html │ ├── conlin_eq10310.png │ ├── conlin_eq42328.png │ ├── conlin_eq81653.png │ ├── conlin_eq95465.png │ ├── covNoise.html │ ├── covSEard.html │ ├── covSum.html │ ├── draw_cdp.html │ ├── draw_cp.html │ ├── draw_dp.html │ ├── draw_pendubot.html │ ├── draw_pendulum.html │ ├── draw_rollout_cdp.html │ ├── draw_rollout_cp.html │ ├── draw_rollout_dp.html │ ├── draw_rollout_pendubot.html │ ├── draw_rollout_pendulum.html │ ├── draw_rollout_unicycle.html │ ├── draw_unicycle.html │ ├── dynamics_cdp.html │ ├── dynamics_cp.html │ ├── dynamics_dp.html │ ├── dynamics_pendubot.html │ ├── dynamics_pendulum.html │ ├── dynamics_unicycle.html │ ├── error_ellipse.html │ ├── fitc.html │ ├── gSat.html │ ├── gSat_eq24615.png │ ├── gSat_eq28128.png │ ├── gSat_eq35427.png │ ├── gSat_eq53557.png │ ├── gSat_eq97420.png │ ├── gSin.html │ ├── gSinSatT.html │ ├── gSin_eq00934.png │ ├── gSin_eq24615.png │ ├── gSin_eq28128.png │ ├── gSin_eq35427.png │ ├── gSin_eq53557.png │ ├── gTrig.html │ ├── gTrigT.html │ ├── gTrigT_eq41681.png │ ├── gTrig_eq00934.png │ ├── gTrig_eq24615.png │ ├── gTrig_eq28128.png │ ├── gTrig_eq35427.png │ ├── gTrig_eq53557.png │ ├── gaussian.html │ ├── getPlotDistr_cdp.html │ ├── getPlotDistr_cdp_eq30108.png │ ├── getPlotDistr_cdp_eq43551.png │ ├── getPlotDistr_cp.html │ ├── getPlotDistr_cp_eq30108.png │ ├── getPlotDistr_cp_eq43551.png │ ├── getPlotDistr_dp.html │ ├── getPlotDistr_dp_eq30108.png │ ├── getPlotDistr_dp_eq43551.png │ ├── getPlotDistr_pendubot.html │ ├── getPlotDistr_pendubot_eq30108.png │ ├── getPlotDistr_pendubot_eq43551.png │ ├── gp0.html │ ├── gp0d.html │ ├── gp1.html │ ├── gp1d.html │ ├── gp2.html │ ├── gp2d.html │ ├── gpT.html │ ├── gpT_eq96160.png │ ├── gpr.html │ ├── hypCurb.html │ ├── lossAdd.html │ ├── lossHinge.html │ ├── lossLin.html │ ├── lossQuad.html │ ├── lossQuad_eq15684.png │ ├── lossQuad_eq95740.png │ ├── lossSat.html │ ├── lossSat_eq21635.png │ ├── lossSat_eq65484.png │ ├── lossT.html │ ├── lossT_eq96160.png │ ├── loss_cdp.html │ ├── loss_cdp_eq26389.png │ ├── loss_cdp_eq30075.png │ ├── loss_cdp_eq32292.png │ ├── loss_cdp_eq39223.png │ ├── loss_cdp_eq72999.png │ ├── loss_cdp_eq81831.png │ ├── loss_cp.html │ ├── loss_cp_eq26389.png │ ├── loss_cp_eq30075.png │ ├── loss_cp_eq32292.png │ ├── loss_cp_eq39223.png │ ├── loss_cp_eq72999.png │ ├── loss_cp_eq81831.png │ ├── loss_dp.html │ ├── loss_dp_eq26389.png │ ├── loss_dp_eq30075.png │ ├── loss_dp_eq32292.png │ ├── loss_dp_eq39223.png │ ├── loss_dp_eq72999.png │ ├── loss_dp_eq81831.png │ ├── loss_pendubot.html │ ├── loss_pendubot_eq26389.png │ ├── loss_pendubot_eq30075.png │ ├── loss_pendubot_eq32292.png │ ├── loss_pendubot_eq39223.png │ ├── loss_pendubot_eq72999.png │ ├── loss_pendubot_eq81831.png │ ├── loss_pendulum.html │ ├── loss_pendulum_eq26389.png │ ├── loss_pendulum_eq30075.png │ ├── loss_pendulum_eq32292.png │ ├── loss_pendulum_eq39223.png │ ├── loss_pendulum_eq72999.png │ ├── loss_pendulum_eq81831.png │ ├── loss_unicycle.html │ ├── loss_unicycle_eq22825.png │ ├── loss_unicycle_eq26389.png │ ├── loss_unicycle_eq32292.png │ ├── loss_unicycle_eq34276.png │ ├── loss_unicycle_eq72999.png │ ├── loss_unicycle_eq81831.png │ ├── maha.html │ ├── minimize.html │ ├── pendubot_learn.html │ ├── pendulum_learn.html │ ├── pred.html │ ├── predcost.html │ ├── propagate.html │ ├── propagateT.html │ ├── propagated.html │ ├── reward.html │ ├── reward_eq37930.png │ ├── reward_eq81456.png │ ├── rewrap.html │ ├── rewrap_eq72999.png │ ├── rewrap_eq77996.png │ ├── rollout.html │ ├── rollout_eq25411.png │ ├── rollout_eq35435.png │ ├── rollout_eq43551.png │ ├── settings_cdp.html │ ├── settings_cp.html │ ├── settings_dp.html │ ├── settings_pendubot.html │ ├── settings_pendulum.html │ ├── settings_unicycle.html │ ├── simulate.html │ ├── solve_chol.html │ ├── sq_dist.html │ ├── train.html │ ├── trainDynModel.html │ ├── unicycle_learn.html │ ├── unwrap.html │ ├── unwrap_eq72999.png │ ├── unwrap_eq77996.png │ ├── value.html │ └── valueT.html ├── literature.bib ├── m2doctex.xsl ├── m2latex.xsl ├── plots │ ├── header.m │ ├── plot_policySquash.m │ ├── plot_satLoss.m │ ├── plot_squash.m │ └── print_pdf.m └── tex │ ├── DoublePend_learn.tex │ ├── applyController.tex │ ├── augment_unicycle.tex │ ├── calcCost.tex │ ├── cartDouble_learn.tex │ ├── cartPole_learn.tex │ ├── checkgrad.tex │ ├── conCat.tex │ ├── conT.tex │ ├── congp.tex │ ├── conlin.tex │ ├── covNoise.tex │ ├── covSEard.tex │ ├── covSum.tex │ ├── draw_cdp.tex │ ├── draw_cp.tex │ ├── draw_dp.tex │ ├── draw_pendubot.tex │ ├── draw_pendulum.tex │ ├── draw_rollout_cdp.tex │ ├── draw_rollout_cp.tex │ ├── draw_rollout_dp.tex │ ├── draw_rollout_pendubot.tex │ ├── draw_rollout_pendulum.tex │ ├── draw_rollout_unicycle.tex │ ├── draw_unicycle.tex │ ├── dynamics_cdp.tex │ ├── dynamics_cp.tex │ ├── dynamics_dp.tex │ ├── dynamics_pendubot.tex │ ├── dynamics_pendulum.tex │ ├── dynamics_unicycle.tex │ ├── error_ellipse.tex │ ├── fitc.tex │ ├── gSat.tex │ ├── gSin.tex │ ├── gSinSatT.tex │ ├── gTrig.tex │ ├── gTrigT.tex │ ├── gaussian.tex │ ├── getPlotDistr_cdp.tex │ ├── getPlotDistr_cp.tex │ ├── getPlotDistr_dp.tex │ ├── getPlotDistr_pendubot.tex │ ├── gp0.tex │ ├── gp0d.tex │ ├── gp1.tex │ ├── gp1d.tex │ ├── gp2.tex │ ├── gp2d.tex │ ├── gpT.tex │ ├── gpr.tex │ ├── hypCurb.tex │ ├── lossAdd.tex │ ├── lossHinge.tex │ ├── lossLin.tex │ ├── lossQuad.tex │ ├── lossSat.tex │ ├── lossT.tex │ ├── loss_cdp.tex │ ├── loss_cp.tex │ ├── loss_dp.tex │ ├── loss_pendubot.tex │ ├── loss_pendulum.tex │ ├── loss_unicycle.tex │ ├── maha.tex │ ├── minimize.tex │ ├── pendubot_learn.tex │ ├── pendulum_learn.tex │ ├── pred.tex │ ├── predcost.tex │ ├── propagate.tex │ ├── propagateT.tex │ ├── propagated.tex │ ├── reward.tex │ ├── rewrap.tex │ ├── rollout.tex │ ├── settings_cdp.tex │ ├── settings_cp.tex │ ├── settings_dp.tex │ ├── settings_pendubot.tex │ ├── settings_pendulum.tex │ ├── settings_unicycle.tex │ ├── simulate.tex │ ├── solve_chol.tex │ ├── sq_dist.tex │ ├── train.tex │ ├── trainDynModel.tex │ ├── unicycle_learn.tex │ ├── unwrap.tex │ ├── value.tex │ └── valueT.tex ├── gp ├── covNoise.m ├── covSEard.m ├── covSum.m ├── fitc.m ├── gp0.m ├── gp0d.m ├── gp1.m ├── gp1d.m ├── gp2.m ├── gp2d.m ├── gpr.m ├── hypCurb.m └── train.m ├── loss ├── lossAdd.m ├── lossHinge.m ├── lossLin.m ├── lossQuad.m ├── lossSat.m ├── reward.m ├── reward.pdf └── reward.tex ├── scenarios ├── cartDoublePendulum │ ├── cartDouble_learn.m │ ├── draw_cdp.m │ ├── draw_rollout_cdp.m │ ├── dynamics_cdp.m │ ├── getPlotDistr_cdp.m │ ├── loss_cdp.m │ └── settings_cdp.m ├── cartPole │ ├── cartPole_learn.m │ ├── draw_cp.m │ ├── draw_rollout_cp.m │ ├── dynamics_cp.m │ ├── getPlotDistr_cp.m │ ├── loss_cp.m │ └── settings_cp.m ├── doublePendulum │ ├── DoublePend_learn.m │ ├── draw_dp.m │ ├── draw_rollout_dp.m │ ├── dynamics_dp.m │ ├── getPlotDistr_dp.m │ ├── loss_dp.m │ └── settings_dp.m ├── pendubot │ ├── draw_pendubot.m │ ├── draw_rollout_pendubot.m │ ├── dynamics_pendubot.m │ ├── getPlotDistr_pendubot.m │ ├── loss_pendubot.m │ ├── pendubot_learn.m │ └── settings_pendubot.m ├── pendulum │ ├── draw_pendulum.m │ ├── draw_rollout_pendulum.m │ ├── dynamics_pendulum.m │ ├── loss_pendulum.m │ ├── pendulum_learn.m │ └── settings_pendulum.m └── unicycle │ 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