├── DQN ├── DQN-CartPoleStab │ ├── DQN.py │ ├── README.md │ ├── config.yml │ ├── storage │ │ ├── README.md │ │ ├── config-1.yml │ │ ├── config-2.yml │ │ ├── config-3.yml │ │ ├── config-4.yml │ │ ├── exp_4.ckpt │ │ ├── loss-1.png │ │ ├── loss-2.png │ │ ├── loss-3.png │ │ ├── loss-4.png │ │ ├── loss-5.png │ │ ├── loss-6.png │ │ ├── reward-1.png │ │ ├── reward-2.png │ │ ├── reward-3.png │ │ ├── reward-4.png │ │ ├── reward-5.png │ │ └── reward-6.png │ ├── test.py │ ├── test_rr.py │ ├── train.py │ └── utils.py ├── DQN-Double │ ├── DQN.py │ ├── README.md │ ├── config.yml │ ├── storage │ │ ├── README.md │ │ ├── config-0.yml │ │ ├── config-1.yml │ │ ├── config-10.yml │ │ ├── config-11.yml │ │ ├── config-12.yml │ │ ├── config-13.yml │ │ ├── config-2.yml │ │ ├── config-3.yml │ │ ├── config-4.yml │ │ ├── config-5.yml │ │ ├── config-6.yml │ │ ├── config-7.yml │ │ ├── config-8.yml │ │ ├── config-9.yml │ │ ├── exp_4.ckpt │ │ ├── loss-0.png │ │ ├── loss-1.png │ │ ├── loss-10.png │ │ ├── loss-11.png │ │ ├── loss-12.png │ │ ├── loss-13.png │ │ ├── loss-2.png │ │ ├── loss-3.png │ │ ├── loss-4.png │ │ ├── loss-5.png │ │ ├── loss-6.png │ │ ├── loss-7.png │ │ ├── loss-8.png │ │ ├── loss-9.png │ │ ├── reward-0.png │ │ ├── reward-1.png │ │ ├── reward-10.png │ │ ├── reward-11.png │ │ ├── reward-12.png │ │ ├── reward-13.png │ │ ├── reward-2.png │ │ ├── reward-3.png │ │ ├── reward-4.png │ │ ├── reward-5.png │ │ ├── reward-6.png │ │ ├── reward-7.png │ │ ├── reward-8.png │ │ └── reward-9.png │ ├── test.py │ ├── train.py │ └── utils.py ├── DQN-Qube │ ├── DQN.py │ ├── README.md │ ├── config.yml │ ├── storage │ │ ├── .~lock.Parameters.ods# │ │ ├── Parameters.ods │ │ ├── README.md │ │ ├── config-1.yml │ │ ├── config-2.yml │ │ ├── config-3.yml │ │ ├── config-5.yml │ │ ├── config-6.yml │ │ ├── config-7.yml │ │ ├── config-8.yml │ │ ├── config-9.yml │ │ ├── data_real_world.pkl │ │ ├── exp_6.ckpt │ │ ├── loss-1.png │ │ ├── loss-2.png │ │ ├── loss-3.png │ │ ├── loss-4.png │ │ ├── loss-5.png │ │ ├── loss-6.png │ │ ├── loss-7.png │ │ ├── loss-8.png │ │ ├── loss-9.png │ │ ├── reward-1.png │ │ ├── reward-2.png │ │ ├── reward-3.png │ │ ├── reward-4.png │ │ ├── reward-5.png │ │ ├── reward-6-real-world.png │ │ ├── reward-6.png │ │ ├── reward-7.png │ │ ├── reward-8.png │ │ ├── reward-9.png │ │ ├── simulatedModelOnRealPlatform-2.png │ │ ├── simulatedModelOnRealPlatform-3.png │ │ ├── simulatedModelOnRealPlatform-4.png │ │ └── simulatedModelOnRealPlatform.png │ ├── test.py │ ├── test_on_real_platform.py │ ├── train.py │ └── utils.py ├── DQN-Swing │ ├── DQN.py │ ├── README.md │ ├── config.yml │ ├── storage │ │ ├── README.md │ │ ├── config-0.yml │ │ ├── config-1.yml │ │ ├── config-2.yml │ │ ├── config-3.yml │ │ ├── exp_0.ckpt │ │ ├── exp_1_best.ckpt │ │ ├── loss-0.png │ │ ├── loss-1-find-best.png │ │ ├── loss-1.png │ │ ├── loss-2.png │ │ ├── loss-3.png │ │ ├── reward-0.png │ │ ├── reward-1-find-best.png │ │ ├── reward-1.png │ │ ├── reward-2.png │ │ └── reward-3.png │ ├── test.py │ ├── test_rr.py │ ├── train.py │ └── utils.py └── README.md ├── LICENSE ├── MPC ├── MPC-CartPoleStab │ ├── .idea │ │ ├── MPC qube.iml │ │ ├── misc.xml │ │ ├── modules.xml │ │ └── workspace.xml │ ├── .ipynb_checkpoints │ │ └── example-checkpoint.ipynb │ ├── Hive │ │ ├── Hive.py │ │ ├── README.md │ │ ├── SelectionMethods.py │ │ ├── Utilities.py │ │ └── __init__.py │ ├── README.md │ ├── config.yml │ ├── controller.py │ ├── dynamics.py │ ├── example.ipynb │ ├── run.py │ ├── storage │ │ ├── config-1.yml │ │ ├── config-2.yml │ │ ├── exp_1.ckpt │ │ ├── loss-1.png │ │ ├── loss-2.png │ │ ├── model_error_exp_1.png │ │ ├── reward-1.png │ │ └── reward-2.png │ └── utils.py ├── MPC-CartPoleSwing │ ├── Hive │ │ ├── Hive.py │ │ ├── README.md │ │ ├── SelectionMethods.py │ │ ├── Utilities.py │ │ └── __init__.py │ ├── README.md │ ├── config.yml │ ├── controller.py │ ├── dynamics.py │ ├── run.py │ ├── storage │ │ ├── config-1.yml │ │ ├── config-2.yml │ │ ├── config-3.yml │ │ ├── config-4.yml │ │ ├── config-5.yml │ │ ├── loss-1.png │ │ ├── loss-2.png │ │ ├── model_error_exp_1.png │ │ ├── model_error_exp_2.png │ │ ├── reward-1.png │ │ └── reward-2.png │ └── utils.py ├── MPC-Double │ ├── Hive │ │ ├── Hive.py │ │ ├── README.md │ │ ├── SelectionMethods.py │ │ ├── Utilities.py │ │ └── __init__.py │ ├── README.md │ ├── config.yml │ ├── controller.py │ ├── dynamics.py │ ├── run.py │ ├── storage │ │ ├── config-1.yml │ │ ├── config-2.yml │ │ ├── config-3.yml │ │ ├── config-4.yml │ │ ├── loss-1.png │ │ ├── loss-2.png │ │ ├── loss-3.png │ │ ├── loss-4.png │ │ ├── model_error_exp_1.png │ │ ├── reward-1.png │ │ ├── reward-2.png │ │ ├── reward-3.png │ │ └── reward-4.png │ └── utils.py ├── MPC-Qube │ ├── Hive │ │ ├── Hive.py │ │ ├── README.md │ │ ├── SelectionMethods.py │ │ ├── Utilities.py │ │ └── __init__.py │ ├── README.md │ ├── config.yml │ ├── controller.py │ ├── dynamics.py │ ├── run.py │ ├── storage │ │ ├── Angle Error h_0 100.png │ │ ├── State Error h_0 100.png │ │ ├── config-1.yml │ │ ├── config-2.yml │ │ ├── config-4.yml │ │ ├── config-5.yml │ │ ├── config-6.yml │ │ ├── config-7.yml │ │ ├── config_3.yml │ │ ├── loss-1.png │ │ ├── loss-2.png │ │ ├── loss-3.png │ │ ├── loss-4.png │ │ ├── loss-5.png │ │ ├── loss-6.png │ │ ├── loss-7.png │ │ ├── mpc.png │ │ ├── reward-1.png │ │ ├── reward-2.png │ │ ├── reward-3.png │ │ ├── reward-4.png │ │ ├── reward-5.png │ │ ├── reward-6.png │ │ └── reward-7.png │ ├── test.py │ └── utils.py └── README.md ├── README.md ├── Resources ├── DQN │ ├── Playing Atari with Deep Reinforcement Learning.pdf │ ├── Q-Learning in Continuous State Action Spaces.pdf │ └── README.md ├── MPC │ ├── Approximate Dynamic Programming with Gaussian Processes.pdf │ ├── Constrained model predictive control: Stability and optimality.pdf │ ├── Neural Network Dynamics for Model based Deep Rl with Model free fine tuning.pdf │ └── README.md ├── README.md └── figures │ ├── README.md │ ├── qube-after-fine-tuning.gif │ ├── qube-before-fine-tuning.gif │ ├── qube.gif │ 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