CLSquare

• Easy combination of different plants and controllers by definition in a configuration file.

• Lean interfaces for plants and controllers for a quick migration to and from CLS² from and to other software environments.

• Optional graphical interface and visualization.

• Many demos for easy starting.

Simulations

• • Cart Pole (single, double and parallel), underactuated pole

  • Maze

  • Mountain Car

Hardware Interfaces

• • Kinova Jaco

  • Robotis Bioloid

• Various static standard controllers (linear, PID…)

• Table-based Q Reinforcement Learning

• Neural Q and policy controllers

• Gaussian Processes

• Kernel-based batch controller (Ormoneit and Sen, 2002)

• Fitted Q Iteration with Extra Trees (Ernst, Geurts and Wehenkel, 2005)