e'</span>,1); <span class="keyword">end</span>; clf(1);
    draw_rollout_pendubot;
  <span class="keyword">end</span>
<span class="keyword">end</span>

mu0Sim(odei,:) = mu0; S0Sim(odei,odei) = S0;
mu0Sim = mu0Sim(dyno); S0Sim = S0Sim(dyno,dyno);

<span class="comment">% 3. Controlled learning (N iterations)</span>
<span class="keyword">for</span> j = 1:N
  trainDynModel;   <span class="comment">% train (GP) dynamics model</span>
  learnPolicy;     <span class="comment">% learn policy</span>
  applyControlle