Fig. 5
Simulation results: 30 trials were divided into 5 failure and 25 successful cases; around 150 episodes, the proposed method mostly succeeded in balancing the pole on the cart, mainly using the FB policy shown in the mixture ratio close to 1; afterwards, the composed policy was made deterministic with further stabilization; in that time, the skill of the FB policy was probably transferred into the FF policy, as can be seen in the decrease of the mixture ratio