此代码是指导性策略搜索算法和基于LQG的轨迹优化的重新实现，旨在帮助其他人理解，重用并在现有工作的基础上进行构建。(This code is a reimplementation of the guided policy search algorithm and LQG-based trajectory optimization, meant to help others understand, reuse, and build upon existing work.)