diff --git a/src/gym_client.clj b/src/gym_client.clj
new file mode 100644
index 0000000..2d7c42b
--- /dev/null
+++ b/src/gym_client.clj
@@ -0,0 +1,88 @@
+(ns gym-client
+  (:require [clj-http.client :as client]
+            [cheshire.core :refer [parse-string]]))
+
+(def remote-base "http://127.0.0.1:5000")
+(def envs-path "/v1/envs/")
+
+(defn post-req
+  [route data]
+  (-> (str remote-base route)
+      (client/post {:form-params data :content-type :json})
+      :body
+      (parse-string true)))
+
+(defn get-req
+  [route]
+  (-> (str remote-base route)
+      (client/get)
+      :body
+      (parse-string true)))
+
+(defn env-create
+  [env-id]
+  (->> {:env_id env-id}
+       (post-req envs-path)
+       :instance_id))
+
+(defn env-reset
+  [instance-id]
+  (-> (str envs-path instance-id "/reset/")
+      (post-req nil)
+      :observation))
+
+(defn env-step
+  [instance-id action render]
+  (-> (str envs-path instance-id "/step/")
+      (post-req {:action action :render render})
+      (select-keys [:observation :reward :done :info])))
+
+(defn env-space-info
+  "type space - action or observation"
+  [instance-id type-space]
+  (->> (format "/%s_space/" type-space)
+       (str envs-path instance-id)
+       (get-req)
+       :info))
+
+(defn env-action-space-sample
+  [instance-id]
+  (-> (str envs-path instance-id "/action_space/sample")
+      (get-req)
+      :action))
+
+(defn env-action-space-contains
+  [instance-id x]
+  (-> (str envs-path instance-id "/action_space/contains/" x)
+      (get-req)
+      :member))
+
+(defn env-monitor-start
+  [instance-id dir force resume video]
+  (-> (str envs-path instance-id "/monitor/start/")
+      (post-req {:directory dir
+                 :force force
+                 :resume resume
+                 :video-callable video})))
+
+(defn env-monitor-close
+  [instance-id]
+  (-> (str envs-path instance-id "/monitor/close/")
+      (post-req nil)))
+
+(defn env-close
+  [instance-id]
+  (-> (str envs-path instance-id "/close/")
+      (post-req nil)))
+
+(defn upload
+  [training-dir algorithm-id api-key]
+  (-> (str "/v1/upload/")
+      (post-req {:training_dir training-dir
+                 :algorithm_id algorithm-id
+                 :api_key api-key})))
+
+(defn shutdown-server
+  []
+  (-> (str "/v1/shutdown")
+      (post-req nil)))
diff --git a/src/lambda_ml/examples/cartpole.clj b/src/lambda_ml/examples/cartpole.clj
new file mode 100644
index 0000000..ef9459e
--- /dev/null
+++ b/src/lambda_ml/examples/cartpole.clj
@@ -0,0 +1,884 @@
+;; gorilla-repl.fileformat = 1
+
+;; **
+;;; dqn
+;; **
+
+;; @@
+(ns unsightly-sands
+  (:require [gorilla-plot.core :as plot]
+            [gym-client :as gym]
+            [lambda-ml.q-network :as qn]
+            [lambda-ml.neural-network :as nn]
+            [clojure.core.matrix.linear :as ml]
+            :reload))
+
+(use 'lambda-ml.neural-network :reload)
+;; @@
+;; =>
+;;; {"type":"html","content":"<span class='clj-nil'>nil</span>","value":"nil"}
+;; <=
+
+;; @@
+(def instance (gym/env-create "CartPole-v1"))
+instance
+;; @@
+;; =>
+;;; {"type":"html","content":"<span class='clj-string'>&quot;d4529b49&quot;</span>","value":"\"d4529b49\""}
+;; <=
+
+;; @@
+(def env (qn/make-environment instance gym/env-reset #(gym/env-step %1 %2 false) #(:reward %) #(:observation %) #(:done %)))
+env
+;; @@
+;; =>
+;;; {"type":"list-like","open":"<span class='clj-map'>{</span>","close":"<span class='clj-map'>}</span>","separator":", ","items":[{"type":"list-like","open":"","close":"","separator":" ","items":[{"type":"html","content":"<span class='clj-keyword'>:actual</span>","value":":actual"},{"type":"html","content":"<span class='clj-string'>&quot;d4529b49&quot;</span>","value":"\"d4529b49\""}],"value":"[:actual \"d4529b49\"]"},{"type":"list-like","open":"","close":"","separator":" ","items":[{"type":"html","content":"<span class='clj-keyword'>:reset</span>","value":":reset"},{"type":"html","content":"<span class='clj-unkown'>#function[gym-client/env-reset]</span>","value":"#function[gym-client/env-reset]"}],"value":"[:reset #function[gym-client/env-reset]]"},{"type":"list-like","open":"","close":"","separator":" ","items":[{"type":"html","content":"<span class='clj-keyword'>:step</span>","value":":step"},{"type":"html","content":"<span class='clj-unkown'>#function[unsightly-sands/fn--26952]</span>","value":"#function[unsightly-sands/fn--26952]"}],"value":"[:step #function[unsightly-sands/fn--26952]]"},{"type":"list-like","open":"","close":"","separator":" ","items":[{"type":"html","content":"<span class='clj-keyword'>:reward</span>","value":":reward"},{"type":"html","content":"<span class='clj-unkown'>#function[unsightly-sands/fn--26954]</span>","value":"#function[unsightly-sands/fn--26954]"}],"value":"[:reward #function[unsightly-sands/fn--26954]]"},{"type":"list-like","open":"","close":"","separator":" ","items":[{"type":"html","content":"<span class='clj-keyword'>:state</span>","value":":state"},{"type":"html","content":"<span class='clj-unkown'>#function[unsightly-sands/fn--26956]</span>","value":"#function[unsightly-sands/fn--26956]"}],"value":"[:state #function[unsightly-sands/fn--26956]]"},{"type":"list-like","open":"","close":"","separator":" ","items":[{"type":"html","content":"<span class='clj-keyword'>:done</span>","value":":done"},{"type":"html","content":"<span class='clj-unkown'>#function[unsightly-sands/fn--26958]</span>","value":"#function[unsightly-sands/fn--26958]"}],"value":"[:done #function[unsightly-sands/fn--26958]]"}],"value":"{:actual \"d4529b49\", :reset #function[gym-client/env-reset], :step #function[unsightly-sands/fn--26952], :reward #function[unsightly-sands/fn--26954], :state #function[unsightly-sands/fn--26956], :done #function[unsightly-sands/fn--26958]}"}
+;; <=
+
+;; @@
+;;;; graph of per-episode rewards and running totals
+(defn stats
+  [fits]
+  (loop [[m r] (first fits)
+         f (rest fits)
+         i 0
+         runs []
+         norms []
+         rs []
+         ts []]
+    (let [t (if (empty? runs) 0 (/ (reduce + runs) (count runs)))
+          norm (ml/norm (get-in m [:network :parameters]))]
+      (when (= (mod i 10) 0)
+        (println (clojure.string/join "\t" [i (:explore m) norm r t])))
+      (if (empty? f)
+        (do
+          (println "Best run:" (apply max ts))
+          (list (plot/compose (plot/list-plot rs :joined true :color :blue :plot-range [:all [0 (apply max rs)]])
+                              (plot/list-plot ts :joined true :color :red  :plot-range [:all [0 (apply max ts)]]))
+                (plot/list-plot norms :joined true)))
+        (recur (first f)
+               (rest f)
+               (inc i)
+               (conj (if (< (count runs) 100) runs (subvec runs 1)) r)
+               (conj norms norm)
+               (conj rs r)
+               (conj ts t))))))
+;; @@
+;; =>
+;;; {"type":"html","content":"<span class='clj-var'>#&#x27;unsightly-sands/stats</span>","value":"#'unsightly-sands/stats"}
+;; <=
+
+;; @@
+(def model1
+  (let [n 4
+        outputs 2
+        alpha 0.0001
+        lambda 0.01
+        hidden [64]
+        layers (concat [n] hidden [outputs])
+        network (-> (nn/make-neural-network hidden alpha lambda nn/quadratic-cost)
+                    (assoc :layers layers)
+                    (assoc :parameters (nn/init-parameters layers)))]
+    (qn/make-q-network network
+                       100000 ;; capacity
+                       32    ;; batch
+                       0.99   ;; discount
+                       0.999  ;; decay
+                       0.01
+                       #(>= % 500))))
+
+(def fits1 (take 400 (qn/q-network-fit model1 env)))
+(stats fits1)
+;; @@
+;; ->
+;;; 0	1.0	469.75174649127194	14.0	0
+;;; 
+;; <-
+;; =>
+;;; {"type":"html","content":"<span class='clj-var'>#&#x27;unsightly-sands/fits1</span>","value":"#'unsightly-sands/fits1"}
+;; <=
+
+;; @@
+(def model2
+  (let [n 4
+        outputs 2
+        alpha 0.0001
+        lambda 0.01
+        hidden [64]
+        layers (concat [n] hidden [outputs])
+        network (-> (nn/make-neural-network hidden alpha lambda nn/quadratic-cost)
+                    (assoc :layers layers)
+                    (assoc :parameters (nn/init-parameters layers)))]
+    (qn/make-q-network network
+                       100000 ;; capacity
+                       32    ;; batch
+                       0.99   ;; discount
+                       0.999  ;; decay
+                       0.01
+                       #(>= % 600))))
+
+(def fits2 (take 400 (qn/q-network-fit model2 env)))
+(stats fits2)
+;; @@
+;; ->
+;;; 0	1.0	488.83752536581494	19.0	0
+;;; 10	0.8227543820685892	502.73112924086394	15.0	20.1
+;;; 20	0.6477715799982753	520.93834826179	38.0	20.35
+;;; 30	0.41543077175087	580.0455573017501	25.0	28.466666666666665
+;;; 40	0.21615360047341434	673.5334538484002	44.0	36.95
+;;; 50	0.052682498181934836	898.204562582404	132.0	55.82
+;;; 60	0.01	1346.9990254776346	329.0	83.46666666666667
+;;; 70	0.01	1519.8862709226755	395.0	113.91428571428571
+;;; 80	0.01	1553.2230655344888	351.0	143.4625
+;;; 90	0.01	1513.058506142587	221.0	155.83333333333334
+;;; 100	0.01	1365.2514146897563	515.0	175.92
+;;; 110	0.01	1258.936243313486	364.0	219.12
+;;; 120	0.01	1195.043387778428	367.0	253.46
+;;; 130	0.01	1115.112830161018	385.0	290.82
+;;; 140	0.01	1018.7836471452367	355.0	336.33
+;;; 150	0.01	961.8773876081444	504.0	369.35
+;;; 160	0.01	925.292796788124	230.0	379.95
+;;; 170	0.01	896.9909896212289	349.0	384.38
+;;; 180	0.01	873.1067286489629	600.0	389.07
+;;; 190	0.01	849.1642992061263	356.0	412.31
+;;; 200	0.01	820.3109096461303	600.0	416.55
+;;; 210	0.01	801.3784393483612	342.0	415.26
+;;; 220	0.01	794.0853137876355	600.0	430.84
+;;; 230	0.01	787.4867615272285	302.0	427.15
+;;; 240	0.01	766.9078469066861	600.0	426.63
+;;; 250	0.01	766.0905369951746	160.0	408.63
+;;; 260	0.01	760.9811030098061	219.0	401.26
+;;; 270	0.01	755.1794871660711	130.0	409.57
+;;; 280	0.01	750.8550241193684	353.0	402.43
+;;; 290	0.01	740.78683885209	600.0	405.24
+;;; 300	0.01	728.0071001616112	600.0	421.36
+;;; 310	0.01	703.0662484672239	196.0	428.22
+;;; 320	0.01	691.1052383444428	576.0	417.68
+;;; 330	0.01	676.4215098868066	165.0	432.68
+;;; 340	0.01	678.6766430301604	102.0	404.76
+;;; 350	0.01	685.3106431130052	54.0	387.67
+;;; 360	0.01	684.1802267765988	93.0	367.77
+;;; 370	0.01	685.093518558302	171.0	333.37
+;;; 380	0.01	679.0287725485231	42.0	308.95
+;;; 390	0.01	686.6356750459717	69.0	264.06
+;;; 
+;; <-
+;; =>
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+;; <=
+
+;; @@
+(def model3
+  (let [n 4
+        outputs 2
+        alpha 0.0001
+        lambda 0.003
+        hidden [64]
+        layers (concat [n] hidden [outputs])
+        network (-> (nn/make-neural-network hidden alpha lambda nn/quadratic-cost)
+                    (assoc :layers layers)
+                    (assoc :parameters (nn/init-parameters layers)))]
+    (qn/make-q-network network
+                       100000 ;; capacity
+                       32    ;; batch
+                       0.99   ;; discount
+                       0.999  ;; decay
+                       0.01
+                       #(>= % 500))))
+
+(def fits3 (take 400 (qn/q-network-fit model3 env)))
+(stats fits3)
+;; @@
+;; ->
+;;; 0	1.0	404.5016115484566	18.0	0
+;;; 10	0.8393835224925505	462.2473496952215	12.0	18.4
+;;; 20	0.6516718490384363	449.3993601233109	46.0	19.65
+;;; 30	0.4059802359226587	491.03329462839815	24.0	29.266666666666666
+;;; 40	0.15537229779623737	599.2526290745398	168.0	42.1
+;;; 50	0.05461460345792028	752.8255933834561	169.0	54.36
+;;; 60	0.01	1229.5536357299536	180.0	93.73333333333333
+;;; 70	0.01	1512.3088925978207	500.0	128.5857142857143
+;;; 80	0.01	1577.6066500019274	245.0	150.5375
+;;; 90	0.01	1598.739990274851	500.0	167.11111111111111
+;;; 100	0.01	1591.610578201715	221.0	191.52
+;;; 110	0.01	1578.793855361496	348.0	225.64
+;;; 120	0.01	1559.398307750034	500.0	257.89
+;;; 130	0.01	1543.2310917636087	500.0	292.48
+;;; 140	0.01	1508.4515717867557	500.0	324.47
+;;; 150	0.01	1486.7403270902362	457.0	355.38
+;;; 160	0.01	1468.520134469627	316.0	364.29
+;;; 170	0.01	1432.1030983694407	481.0	370.98
+;;; 180	0.01	1395.163217023004	417.0	386.2
+;;; 190	0.01	1382.0408491876283	500.0	397.93
+;;; 200	0.01	1350.3768213405187	475.0	398.32
+;;; 210	0.01	1332.0724133236179	500.0	409.04
+;;; 220	0.01	1304.1353342497919	440.0	413.24
+;;; 230	0.01	1280.444574369762	308.0	416.86
+;;; 240	0.01	1249.2146696071834	500.0	420.06
+;;; 250	0.01	1234.9596414991863	269.0	416.93
+;;; 260	0.01	1205.3650805080645	329.0	419.94
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+;; <=
+
+;; @@
+(def model4
+  (let [n 4
+        outputs 2
+        alpha 0.0001
+        lambda 0.003
+        hidden [64]
+        layers (concat [n] hidden [outputs])
+        network (-> (nn/make-neural-network hidden alpha lambda nn/quadratic-cost)
+                    (assoc :layers layers)
+                    (assoc :parameters (nn/init-parameters layers)))]
+    (qn/make-q-network network
+                       100000 ;; capacity
+                       64     ;; batch
+                       0.99   ;; discount
+                       0.999  ;; decay
+                       0.01
+                       #(>= % 500))))
+
+(def fits4 (take 500 (qn/q-network-fit model4 env)))
+(stats fits4)
+;; @@
+;; ->
+;;; 0	1.0	449.4070774811354	9.0	0
+;;; 10	0.8419067177676068	471.55958594733823	28.0	19.7
+;;; 20	0.5519503413089615	616.3925138535795	69.0	28.4
+;;; 30	0.06738391769911038	1712.1817041613356	482.0	74.9
+;;; 40	0.01	2226.0618190644936	325.0	162.675
+;;; 50	0.01	2091.3584106123476	481.0	218.24
+;;; 60	0.01	1963.411297163832	449.0	249.33333333333334
+;;; 70	0.01	1825.0280248586034	392.0	275.48571428571427
+;;; 80	0.01	1727.4339824026467	500.0	296.0375
+;;; 90	0.01	1611.9023091347212	500.0	316.3333333333333
+;;; 100	0.01	1507.829841596358	324.0	333.69
+;;; 110	0.01	1431.993910785447	500.0	373.2
+;;; 120	0.01	1344.2270852844247	500.0	417.65
+;;; 130	0.01	1278.9455169934256	468.0	448.57
+;;; 140	0.01	1233.7858883044873	500.0	446.92
+;;; 150	0.01	1181.72642724388	500.0	450.69
+;;; 160	0.01	1134.7062931005905	500.0	458.61
+;;; 170	0.01	1111.6888814881388	500.0	458.21
+;;; 180	0.01	1061.9286106877628	500.0	459.05
+;;; 190	0.01	1045.3903910290728	500.0	458.61
+;;; 200	0.01	1020.428319104705	500.0	456.6
+;;; 210	0.01	1008.8590082484517	500.0	455.87
+;;; 220	0.01	995.8988698183547	302.0	450.03
+;;; 230	0.01	986.2774936872025	308.0	445.81
+;;; 240	0.01	970.369047579442	500.0	448.95
+;;; 250	0.01	958.6802233749952	500.0	441.51
+;;; 260	0.01	911.3794773921713	304.0	435.63
+;;; 270	0.01	869.08249061236	500.0	438.99
+;;; 280	0.01	843.3162217967156	500.0	438.65
+;;; 290	0.01	832.2425872316124	500.0	438.98
+;;; 300	0.01	810.3933976116635	500.0	438.32
+;;; 310	0.01	797.5339465714267	448.0	444.23
+;;; 320	0.01	788.6452294032106	283.0	424.57
+;;; 330	0.01	797.6584573514908	25.0	409.4
+;;; 340	0.01	806.6549776975762	226.0	378.06
+;;; 350	0.01	822.1833535769651	87.0	364.88
+;;; 360	0.01	829.7253421706413	79.0	329.44
+;;; 370	0.01	864.4784109777248	63.0	294.38
+;;; 380	0.01	905.120180722427	8.0	259.85
+;;; 390	0.01	930.1309443023403	9.0	212.94
+;;; 400	0.01	956.815865167009	43.0	168.91
+;;; 410	0.01	1030.3474800448519	7.0	124.32
+;;; 420	0.01	1094.5223448109557	14.0	102.89
+;;; 430	0.01	1131.1007462516757	13.0	76.67
+;;; 440	0.01	956.3785915572263	500.0	78.08
+;;; 450	0.01	1011.3764822164997	474.0	96.06
+;;; 460	0.01	1061.7150365017376	468.0	128.94
+;;; 470	0.01	1110.1581819771257	260.0	158.4
+;;; 480	0.01	1167.6174008977707	196.0	188.21
+;;; 490	0.01	1249.8140167696627	305.0	224.98
+;;; 
+;; <-
+;; =>
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\"y\"}]}})"}
+;; <=
+
+;; @@
+(def model5
+  (let [n 4
+        outputs 2
+        alpha 0.0001
+        lambda 0.1
+        hidden [64 32]
+        layers (concat [n] hidden [outputs])
+        network (-> (nn/make-neural-network hidden alpha lambda nn/quadratic-cost)
+                    (assoc :layers layers)
+                    (assoc :parameters (nn/init-parameters layers)))]
+    (qn/make-q-network network
+                       100000 ;; capacity
+                       128    ;; batch
+                       0.99   ;; discount
+                       0.999  ;; decay
+                       0.01
+                       #(>= % 500))))
+
+(def fits5 (take 500 (qn/q-network-fit model5 env)))
+(stats fits5)
+;; @@
+;; ->
+;;; 0	1.0	2409.560708119	9.0	0
+;;; 10	0.9138900318559524	1984.3650991168827	24.0	18.3
+;;; 20	0.6661748299656206	1227.898245272086	12.0	25.05
+;;; 30	0.2041715862239982	2581.561216633334	134.0	51.7
+;;; 40	0.02858772968464549	1473.625829690315	280.0	84.0
+;;; 50	0.01	1166.0024655681143	344.0	120.64
+;;; 60	0.01	1027.7558656530432	136.0	148.58333333333334
+;;; 70	0.01	959.3687862778017	239.0	153.1
+;;; 80	0.01	942.197825169463	101.0	165.375
+;;; 90	0.01	944.511864360259	89.0	167.11111111111111
+;;; 100	0.01	926.1903762919562	223.0	173.36
+;;; 110	0.01	922.694171096243	119.0	187.03
+;;; 120	0.01	924.4925129100653	281.0	199.81
+;;; 130	0.01	902.8711837760467	121.0	208.13
+;;; 140	0.01	899.7314686424004	132.0	204.59
+;;; 150	0.01	881.5502767755914	236.0	194.54
+;;; 160	0.01	875.7872851892266	93.0	186.98
+;;; 170	0.01	873.8423348092801	212.0	185.18
+;;; 180	0.01	867.7805534325253	42.0	178.15
+;;; 190	0.01	879.9002110508598	115.0	167.19
+;;; 200	0.01	879.7924516387416	47.0	160.87
+;;; 210	0.01	856.5535714050951	280.0	153.3
+;;; 220	0.01	854.7351078758034	115.0	152.33
+;;; 230	0.01	852.359346208014	227.0	155.06
+;;; 240	0.01	835.8446053810571	32.0	155.36
+;;; 250	0.01	841.7170289821141	21.0	148.35
+;;; 260	0.01	892.3832487149896	143.0	135.11
+;;; 270	0.01	1011.6331115042597	500.0	152.69
+;;; 280	0.01	1009.6600775308659	500.0	170.23
+;;; 290	0.01	1068.5384416424097	500.0	211.94
+;;; 300	0.01	1081.823915940613	500.0	233.44
+;;; 310	0.01	1111.7320582296766	500.0	267.9
+;;; 320	0.01	1123.4937221524435	359.0	296.06
+;;; 330	0.01	1127.4949924536395	96.0	313.2
+;;; 340	0.01	1113.755922194737	402.0	321.99
+;;; 350	0.01	1121.579265825489	145.0	355.97
+;;; 360	0.01	1100.7600346493848	500.0	381.31
+;;; 370	0.01	1098.8649383099155	267.0	389.07
+;;; 380	0.01	1093.6201939029102	58.0	382.53
+;;; 390	0.01	1108.309488714042	243.0	348.91
+;;; 400	0.01	1078.8188807598008	129.0	343.05
+;;; 410	0.01	1153.7259067045457	179.0	318.34
+;;; 420	0.01	1115.056142812965	32.0	288.9
+;;; 430	0.01	1100.957356397008	27.0	262.33
+;;; 440	0.01	1094.4251124989612	70.0	262.29
+;;; 450	0.01	1082.4892254979857	45.0	230.27
+;;; 460	0.01	1098.9444222479347	8.0	212.25
+;;; 470	0.01	1117.7327792655499	20.0	171.85
+;;; 480	0.01	1124.8875807008656	9.0	145.15
+;;; 490	0.01	1084.3745543369903	59.0	154.55
+;;; 
+;; <-
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\"x\"} {:type \"y\", :scale \"y\"}]}})"}
+;; <=
+
+;; @@
+(def model6
+  (let [n 4
+        outputs 2
+        alpha 0.0001
+        lambda 0.3
+        hidden [64 64]
+        layers (concat [n] hidden [outputs])
+        network (-> (nn/make-neural-network hidden alpha lambda nn/quadratic-cost)
+                    (assoc :layers layers)
+                    (assoc :parameters (nn/init-parameters layers)))]
+    (qn/make-q-network network
+                       100000 ;; capacity
+                       128    ;; batch
+                       0.99   ;; discount
+                       0.999  ;; decay
+                       0.01
+                       #(>= % 500))))
+
+(def fits6 (take 500 (qn/q-network-fit model6 env)))
+(stats fits6)
+;; @@
+;; ->
+;;; 0	1.0	4551.161549705149	14.0	0
+;;; 10	0.9314288037569908	2751.2809236066837	18.0	17.0
+;;; 20	0.7066826263699144	871.1902695649402	18.0	21.8
+;;; 30	0.3908349959789493	3075.0965405278225	90.0	31.533333333333335
+;;; 40	0.057186869905733934	2804.665907524595	173.0	69.35
+;;; 50	0.01	2789.968574618387	316.0	97.14
+;;; 60	0.01	2571.4733052245233	173.0	126.06666666666666
+;;; 70	0.01	2428.6475060867247	153.0	130.87142857142857
+;;; 80	0.01	2293.2280430462497	49.0	132.0875
+;;; 90	0.01	2266.5177430908793	25.0	123.03333333333333
+;;; 100	0.01	2217.3486294686313	46.0	116.4
+;;; 110	0.01	2192.5186018969393	12.0	117.94
+;;; 120	0.01	2191.1170915730468	30.0	117.37
+;;; 130	0.01	2180.381839958969	121.0	124.39
+;;; 140	0.01	2093.0839483257228	108.0	122.25
+;;; 150	0.01	2055.528386875772	157.0	110.79
+;;; 160	0.01	2013.4707605822061	41.0	95.65
+;;; 170	0.01	1994.0197351704483	49.0	84.84
+;;; 180	0.01	1973.9209718998484	91.0	76.23
+;;; 190	0.01	1959.5348759015244	37.0	77.37
+;;; 200	0.01	1915.7315297623472	32.0	78.64
+;;; 210	0.01	1912.8512765651571	7.0	79.11
+;;; 220	0.01	1890.1857675086876	141.0	84.52
+;;; 230	0.01	1859.7805869787212	94.0	79.97
+;;; 240	0.01	1863.3860039349229	16.0	68.62
+;;; 250	0.01	1840.2442943276626	13.0	65.54
+;;; 260	0.01	1831.04608007704	19.0	58.45
+;;; 270	0.01	1811.3110913649145	48.0	58.05
+;;; 280	0.01	1805.0342314987656	45.0	55.48
+;;; 290	0.01	1820.8958716976424	8.0	50.76
+;;; 300	0.01	1780.207302520158	211.0	58.23
+;;; 310	0.01	1760.2145544329221	46.0	68.09
+;;; 320	0.01	1753.4867723230816	225.0	70.14
+;;; 330	0.01	1740.6195759646685	47.0	70.73
+;;; 340	0.01	1739.1602847431277	20.0	71.12
+;;; 350	0.01	1733.824626202947	68.0	69.4
+;;; 360	0.01	1706.151824693987	176.0	70.58
+;;; 370	0.01	1708.2307847285838	13.0	71.04
+;;; 380	0.01	1721.6786178305886	12.0	69.32
+;;; 390	0.01	1709.8247058710397	122.0	77.14
+;;; 400	0.01	1693.5160600018169	114.0	77.51
+;;; 410	0.01	1689.5628801455525	12.0	70.44
+;;; 420	0.01	1682.4302963474856	16.0	66.27
+;;; 430	0.01	1686.8640497605925	14.0	60.43
+;;; 440	0.01	1690.4259575021317	23.0	58.51
+;;; 450	0.01	1670.4110791592652	19.0	62.6
+;;; 460	0.01	1677.6780996900152	18.0	58.09
+;;; 470	0.01	1680.2024844072082	30.0	55.14
+;;; 480	0.01	1675.715894596209	99.0	67.35
+;;; 490	0.01	1692.86326827709	182.0	71.27
+;;; 
+;; <-
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+;; <=
+
+;; @@
+(let [mmm (let [n 4
+                outputs 2
+                alpha 0.0001
+                lambda 0.1
+                hidden [32 32]
+                layers (concat [n] hidden [outputs])
+                network (-> (nn/make-neural-network hidden alpha lambda nn/quadratic-cost)
+                            (assoc :layers layers)
+                            (assoc :parameters (nn/init-parameters layers)))]
+            (qn/make-q-network network
+                               100000 ;; capacity
+                               128    ;; batch
+                               0.99   ;; discount
+                               0.999  ;; decay
+                               0.01
+                               #(>= % 500)))
+      fff (take 500 (qn/q-network-fit mmm env))]
+  (stats fff))
+;; @@
+;; ->
+;;; 0	1.0	1256.7202200500506	28.0	0
+;;; 10	0.8285367691502946	1321.771898988052	29.0	27.6
+;;; 20	0.531891525167934	2019.8373960730935	118.0	31.0
+;;; 30	0.3939757930361214	5521.073808128472	10.0	33.93333333333333
+;;; 40	0.27235458681947705	3712.6205656626234	74.0	32.825
+;;; 50	0.21876438263583933	3233.8664340438672	26.0	31.4
+;;; 60	0.1862173832738307	3012.210454786985	11.0	28.933333333333334
+;;; 70	0.14588120661157572	2802.4818524779785	20.0	28.014285714285716
+;;; 80	0.11978447322152684	2702.1320021307724	16.0	26.9
+;;; 90	0.0906997842788457	2615.9109717584565	40.0	26.622222222222224
+;;; 100	0.07227233419224825	2575.5277357725636	16.0	26.37
+;;; 110	0.06121292424011711	2553.978543707353	27.0	25.06
+;;; 120	0.05231482518507846	2537.9385351047385	10.0	23.26
+;;; 130	0.04206309372134695	2522.191927245786	12.0	21.34
+;;; 140	0.03440046753679158	2509.3272614606885	17.0	20.25
+;;; 150	0.027909456826604034	2499.7731996496755	17.0	19.67
+;;; 160	0.022575370588170832	2488.7102555946003	35.0	19.85
+;;; 170	0.017934826521424863	2478.452907852958	30.0	19.85
+;;; 180	0.014064063517475151	2467.87894309043	17.0	20.4
+;;; 190	0.012448023017815866	2464.006388968292	11.0	19.14
+;;; 200	0.01	2458.1880978555214	8.0	18.99
+;;; 210	0.01	2451.3008819546058	33.0	18.66
+;;; 220	0.01	2446.143053120064	26.0	18.75
+;;; 230	0.01	2443.345435728535	10.0	18.35
+;;; 240	0.01	2440.973800848427	8.0	18.08
+;;; 250	0.01	2433.9988925493544	36.0	17.76
+;;; 260	0.01	2429.225835128626	7.0	17.55
+;;; 270	0.01	2424.692428950816	11.0	17.33
+;;; 280	0.01	2421.045947914101	11.0	16.55
+;;; 290	0.01	2418.0416249357395	12.0	16.55
+;;; 300	0.01	2411.809372704037	30.0	15.87
+;;; 310	0.01	2406.9699225212303	8.0	16.55
+;;; 320	0.01	2402.688517449227	32.0	16.58
+;;; 330	0.01	2395.2168220075205	13.0	17.45
+;;; 340	0.01	2389.5055717194705	12.0	17.84
+;;; 350	0.01	2385.059345810765	12.0	17.65
+;;; 360	0.01	2379.680893318048	11.0	18.31
+;;; 370	0.01	2373.7101330583064	9.0	18.26
+;;; 380	0.01	2368.7443912664003	13.0	18.68
+;;; 390	0.01	2364.8129560731318	53.0	19.14
+;;; 400	0.01	2358.4641512267144	62.0	20.21
+;;; 410	0.01	2354.8461996655396	48.0	20.08
+;;; 420	0.01	2350.6147596886535	30.0	20.24
+;;; 430	0.01	2346.3810806959295	8.0	19.67
+;;; 440	0.01	2343.3788325099586	13.0	19.37
+;;; 450	0.01	2340.004143394994	10.0	19.21
+;;; 460	0.01	2336.9934345695615	16.0	18.31
+;;; 470	0.01	2334.3702965568914	23.0	17.84
+;;; 480	0.01	2330.4587555299377	10.0	17.63
+;;; 490	0.01	2325.388741203818	23.0	17.77
+;;; 
+;; <-
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\"01a3223b-fc53-4663-baa4-0f8ecfdb6087\", :field \"data.x\"}} {:name \"y\", :type \"linear\", :range \"height\", :nice true, :zero false, :domain {:data \"01a3223b-fc53-4663-baa4-0f8ecfdb6087\", :field \"data.y\"}}], :axes [{:type \"x\", :scale \"x\"} {:type \"y\", :scale \"y\"}]}})"}
+;; <=
+
+;; @@
+(let [mmm (let [n 4
+                outputs 2
+                alpha 0.0001
+                lambda 0.003
+                hidden [64]
+                layers (concat [n] hidden [outputs])
+                network (-> (nn/make-neural-network hidden alpha lambda nn/quadratic-cost)
+                            (assoc :layers layers)
+                            (assoc :parameters (nn/init-parameters layers)))]
+            (qn/make-q-network network
+                               100000 ;; capacity
+                               128    ;; batch
+                               0.99   ;; discount
+                               0.999  ;; decay
+                               0.01
+                               #(>= % 500)))
+      fff (take 500 (qn/q-network-fit mmm env))]
+  (stats fff))
+;; @@
+;; ->
+;;; 0	1.0	454.78112149866723	13.0	0
+;;; 10	0.9314288037569908	475.12256147955327	18.0	17.0
+;;; 20	0.6510201771893979	710.6840923560841	34.0	25.1
+;;; 30	0.45457413613233344	1206.9418970950449	35.0	28.333333333333332
+;;; 40	0.030417211453741086	14617.93182559128	241.0	83.425
+;;; 50	0.01	14171.817175155313	241.0	111.12
+;;; 60	0.01	12321.191189980675	231.0	141.25
+;;; 70	0.01	9593.06031374064	409.0	179.02857142857144
+;;; 80	0.01	7525.2284023591765	492.0	211.475
+;;; 90	0.01	6002.220150193832	500.0	237.2111111111111
+;;; 100	0.01	4985.099793210518	500.0	258.25
+;;; 110	0.01	4229.66443929759	500.0	304.49
+;;; 120	0.01	3712.6484127468398	500.0	346.9
+;;; 130	0.01	3339.75871035452	500.0	387.31
+;;; 140	0.01	3029.4383445657118	493.0	408.64
+;;; 150	0.01	2795.796950061017	382.0	432.27
+;;; 160	0.01	2615.1355067026825	500.0	446.44
+;;; 170	0.01	2472.2438289504835	402.0	450.71
+;;; 180	0.01	2350.1794933384977	377.0	451.77
+;;; 190	0.01	2277.194592608509	359.0	450.49
+;;; 200	0.01	2209.7568666672023	377.0	449.36
+;;; 210	0.01	2132.77483822516	500.0	444.53
+;;; 220	0.01	2066.582524018961	384.0	446.27
+;;; 230	0.01	2014.5273501529387	403.0	446.89
+;;; 240	0.01	1987.6836913036047	497.0	442.65
+;;; 250	0.01	1957.1321781593383	335.0	439.98
+;;; 260	0.01	1935.3085036042537	500.0	434.66
+;;; 270	0.01	1874.3790443876512	339.0	436.03
+;;; 280	0.01	1798.3539671561598	500.0	429.12
+;;; 290	0.01	1743.4956168337906	292.0	418.63
+;;; 300	0.01	1767.9062533527665	19.0	404.63
+;;; 310	0.01	1759.6420374986337	22.0	364.65
+;;; 320	0.01	1754.6677568936975	93.0	319.31
+;;; 330	0.01	1718.3963065207272	30.0	280.99
+;;; 340	0.01	1711.8310772999641	140.0	251.29
+;;; 350	0.01	1741.2445019683921	159.0	241.6
+;;; 360	0.01	1777.3419126163392	500.0	232.98
+;;; 370	0.01	1849.885311777348	381.0	227.09
+;;; 380	0.01	1891.83023323606	500.0	231.71
+;;; 390	0.01	1922.8038088766436	500.0	240.44
+;;; 400	0.01	1967.8229472570283	298.0	260.81
+;;; 410	0.01	1941.0976703179135	253.0	286.51
+;;; 420	0.01	1924.2672089270977	243.0	313.41
+;;; 430	0.01	1906.528982981058	450.0	336.62
+;;; 440	0.01	1942.9720328076044	500.0	360.24
+;;; 450	0.01	1933.7801866128086	273.0	365.33
+;;; 460	0.01	1946.8833942072017	416.0	379.04
+;;; 470	0.01	1953.940763547974	500.0	386.12
+;;; 480	0.01	1961.8878845206123	500.0	387.94
+;;; 490	0.01	1964.2906204025421	500.0	394.57
+;;; 
+;; <-
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:strokeOpacity {:value 1}}}}], :scales [{:name \"x\", :type \"linear\", :range \"width\", :zero false, :domain {:data \"8fd2b132-f34d-48c2-82e3-244b1761da03\", :field \"data.x\"}} {:name \"y\", :type \"linear\", :range \"height\", :nice true, :zero false, :domain {:data \"8fd2b132-f34d-48c2-82e3-244b1761da03\", :field \"data.y\"}}], :axes [{:type \"x\", :scale \"x\"} {:type \"y\", :scale \"y\"}]}})"}
+;; <=
+
+;; @@
+(let [mmm (let [n 4
+                outputs 2
+                alpha 0.0001
+                lambda 0.003
+                hidden [128]
+                layers (concat [n] hidden [outputs])
+                network (-> (nn/make-neural-network hidden alpha lambda nn/quadratic-cost)
+                            (assoc :layers layers)
+                            (assoc :parameters (nn/init-parameters layers)))]
+            (qn/make-q-network network
+                               100000 ;; capacity
+                               128    ;; batch
+                               0.99   ;; discount
+                               0.999  ;; decay
+                               0.01
+                               #(>= % 500)))
+      fff (take 500 (qn/q-network-fit mmm env))]
+  (stats fff))
+;; @@
+;; ->
+;;; 0	1.0	933.3138546308131	18.0	0
+;;; 10	0.9002772252562138	1020.3533865434755	26.0	19.6
+;;; 20	0.6394008908411897	1381.6844578813939	27.0	26.35
+;;; 30	0.21723761836032254	4160.485185783011	151.0	49.06666666666667
+;;; 40	0.010089111232576095	6557.523209412938	226.0	111.375
+;;; 50	0.01	5130.282880896159	206.0	140.86
+;;; 60	0.01	4486.547791338778	221.0	156.9
+;;; 70	0.01	3975.679978162704	232.0	170.12857142857143
+;;; 80	0.01	3474.5241959163986	302.0	179.4125
+;;; 90	0.01	3066.5866430847145	223.0	189.5222222222222
+;;; 100	0.01	2788.4126401630624	301.0	195.29
+;;; 110	0.01	2535.069729224165	305.0	221.14
+;;; 120	0.01	2327.6824980254714	214.0	245.21
+;;; 130	0.01	2120.4654476325604	260.0	265.85
+;;; 140	0.01	1939.9175881458932	276.0	264.68
+;;; 150	0.01	1816.9716806066565	307.0	267.61
+;;; 160	0.01	1707.274172034259	211.0	271.91
+;;; 170	0.01	1625.7442027118902	219.0	275.75
+;;; 180	0.01	1517.2412626725072	185.0	284.36
+;;; 190	0.01	1473.0097129854773	261.0	288.44
+;;; 200	0.01	1413.16195929703	500.0	292.86
+;;; 210	0.01	1383.5909918761208	238.0	294.03
+;;; 220	0.01	1333.9882815900082	356.0	304.62
+;;; 230	0.01	1299.5840675988286	294.0	305.0
+;;; 240	0.01	1280.5629975815636	218.0	308.07
+;;; 250	0.01	1250.1732590457245	462.0	306.79
+;;; 260	0.01	1221.8575986770163	314.0	314.8
+;;; 270	0.01	1209.1201777114807	301.0	317.93
+;;; 280	0.01	1191.4815244658146	461.0	315.18
+;;; 290	0.01	1183.022697345774	345.0	317.7
+;;; 300	0.01	1167.251414731519	286.0	322.42
+;;; 310	0.01	1152.4284100701118	363.0	329.19
+;;; 320	0.01	1143.0501931744575	328.0	328.55
+;;; 330	0.01	1143.4542096962437	478.0	336.95
+;;; 340	0.01	1108.4518033987463	500.0	349.41
+;;; 350	0.01	1085.1318978867823	421.0	361.25
+;;; 360	0.01	1047.9177067758073	176.0	353.84
+;;; 370	0.01	1032.067538129501	155.0	341.95
+;;; 380	0.01	1007.7869833472527	314.0	333.3
+;;; 390	0.01	992.1427824312931	144.0	331.49
+;;; 400	0.01	1014.8567191471282	33.0	301.26
+;;; 410	0.01	1028.6002033359214	30.0	270.41
+;;; 420	0.01	1016.9751154837984	82.0	237.52
+;;; 430	0.01	1033.3365359394684	20.0	206.47
+;;; 440	0.01	1078.2387560779525	12.0	163.78
+;;; 450	0.01	1142.96868915237	8.0	125.48
+;;; 460	0.01	1290.7826761840993	9.0	98.0
+;;; 470	0.01	1809.5241483938457	8.0	78.83
+;;; 480	0.01	2103.2456330662826	77.0	60.9
+;;; 490	0.01	1617.297847111456	181.0	57.83
+;;; Best run: 361.25
+;;; 
+;; <-
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false, :domain {:data \"0a7266df-fdfb-4742-ba2d-1d33845efdd2\", :field \"data.x\"}} {:name \"y\", :type \"linear\", :range \"height\", :nice true, :zero false, :domain {:data \"0a7266df-fdfb-4742-ba2d-1d33845efdd2\", :field \"data.y\"}}], :axes [{:type \"x\", :scale \"x\"} {:type \"y\", :scale \"y\"}]}})"}
+;; <=
+
+;; @@
+(let [mmm (let [n 4
+                outputs 2
+                alpha 0.0001
+                lambda 0.005
+                hidden [64]
+                layers (concat [n] hidden [outputs])
+                network (-> (nn/make-neural-network hidden alpha lambda nn/quadratic-cost)
+                            (assoc :layers layers)
+                            (assoc :parameters (nn/init-parameters layers)))]
+            (qn/make-q-network network
+                               100000 ;; capacity
+                               128    ;; batch
+                               0.99   ;; discount
+                               0.999  ;; decay
+                               0.01
+                               #(>= % 500)))
+      fff (take 500 (qn/q-network-fit mmm env))]
+  (stats fff))
+;; @@
+;; ->
+;;; 0	1.0	471.13352111119815	16.0	0
+;;; 10	0.8993769480309576	509.132041505735	10.0	21.3
+;;; 20	0.5491961035890855	1439.7862441174555	36.0	33.5
+;;; 30	0.13345283339082842	14834.304175052108	172.0	64.6
+;;; 40	0.02793739422082486	14475.367908385193	203.0	86.5
+;;; 50	0.01	11804.015043725309	138.0	106.46
+;;; 60	0.01	8938.461442563801	258.0	128.1
+;;; 70	0.01	6373.627533343189	500.0	167.72857142857143
+;;; 80	0.01	4742.3800364223525	500.0	209.2625
+;;; 90	0.01	3548.526922609619	500.0	241.0888888888889
+;;; 100	0.01	2900.155748681594	500.0	264.11
+;;; 110	0.01	2525.5668086799305	500.0	307.45
+;;; 120	0.01	2252.030253560374	500.0	349.56
+;;; 130	0.01	2062.723100734453	500.0	386.88
+;;; 140	0.01	1953.1869627729209	500.0	419.02
+;;; 150	0.01	1862.044892143121	500.0	450.39
+;;; 160	0.01	1805.2408254242619	500.0	474.15
+;;; 170	0.01	1770.9870632493898	500.0	475.6
+;;; 180	0.01	1742.1388931415001	336.0	469.88
+;;; 190	0.01	1714.6237252572387	176.0	460.22
+;;; 200	0.01	1709.0048135556274	500.0	452.83
+;;; 210	0.01	1688.6169587643726	500.0	450.2
+;;; 220	0.01	1700.855933778429	112.0	443.19
+;;; 230	0.01	1688.7429438887443	500.0	425.87
+;;; 240	0.01	1678.5811236186348	500.0	421.95
+;;; 250	0.01	1682.9875729189137	500.0	414.12
+;;; 260	0.01	1674.125859923979	500.0	401.46
+;;; 270	0.01	1668.3113190135552	500.0	392.19
+;;; 280	0.01	1650.4172377725256	43.0	386.96
+;;; 290	0.01	1635.189556284671	35.0	367.37
+;;; 300	0.01	1622.955080875673	55.0	337.99
+;;; 310	0.01	1646.2595003342244	15.0	299.57
+;;; 320	0.01	1752.038641480754	12.0	261.25
+;;; 330	0.01	1771.0397357117965	45.0	229.98
+;;; 340	0.01	1647.2463891930176	94.0	196.45
+;;; 350	0.01	1691.8123698139336	342.0	165.06
+;;; 360	0.01	1670.2883041354626	500.0	170.54
+;;; 370	0.01	1682.6130782747287	500.0	185.71
+;;; 380	0.01	1684.1238067844906	500.0	196.66
+;;; 390	0.01	1692.2028348507977	500.0	226.34
+;;; 400	0.01	1679.8365239620941	500.0	265.18
+;;; 410	0.01	1674.8490765443066	500.0	310.71
+;;; 420	0.01	1672.1175443512866	500.0	359.36
+;;; 430	0.01	1663.7038772017306	500.0	407.65
+;;; 440	0.01	1648.1274206257306	500.0	447.74
+;;; 450	0.01	1684.3350876090867	500.0	486.96
+;;; 460	0.01	1665.3237966637219	500.0	496.42
+;;; 470	0.01	1696.7444640163014	500.0	495.77
+;;; 480	0.01	1647.5119979117842	500.0	493.02
+;;; 490	0.01	1596.3682818361717	500.0	493.02
+;;; Best run: 496.42
+;;; 
+;; <-
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\"#FF29D2\"}, :strokeWidth {:value 2}, :strokeOpacity {:value 1}}}}], :scales [{:name \"x\", :type \"linear\", :range \"width\", :zero false, :domain {:data \"b20deefa-c86c-4f16-a224-e395a78ebdea\", :field \"data.x\"}} {:name \"y\", :type \"linear\", :range \"height\", :nice true, :zero false, :domain {:data \"b20deefa-c86c-4f16-a224-e395a78ebdea\", :field \"data.y\"}}], :axes [{:type \"x\", :scale \"x\"} {:type \"y\", :scale \"y\"}]}})"}
+;; <=
+
+;; @@
+(def instance (gym/env-create "CartPole-v1"))
+instance
+
+(def env (qn/make-environment instance gym/env-reset #(gym/env-step %1 %2 false) #(:reward %) #(:observation %) #(:done %)))
+env
+
+(gym/env-monitor-start instance "/Users/kjiang/stuff/personal/small/gym" true false true)
+(let [mmm (let [n 4
+                outputs 2
+                alpha 0.0001
+                lambda 0.005
+                hidden [64]
+                layers (concat [n] hidden [outputs])
+                network (-> (nn/make-neural-network hidden alpha lambda nn/quadratic-cost)
+                            (assoc :layers layers)
+                            (assoc :parameters (nn/init-parameters layers)))]
+            (qn/make-q-network network
+                               100000 ;; capacity
+                               128    ;; batch
+                               0.99   ;; discount
+                               0.999  ;; decay
+                               0.01
+                               #(>= % 500)))
+      fff (take 600 (qn/q-network-fit mmm env))]
+  (stats fff))
+(gym/env-monitor-close instance)
+;; @@
+;; ->
+;;; 0	1.0	428.040116380621	16.0	0
+;;; 10	0.8684280445126921	504.3693856941113	14.0	24.4
+;;; 20	0.5094939886915886	1126.1112934220234	177.0	30.2
+;;; 30	0.07062822804962023	4160.377037735301	225.0	84.03333333333333
+;;; 40	0.01	4456.800133505148	180.0	125.25
+;;; 50	0.01	6194.6322027577535	237.0	151.7
+;;; 60	0.01	4426.417405435828	247.0	175.08333333333334
+;;; 70	0.01	3315.8013472338994	401.0	198.3
+;;; 80	0.01	2737.8102177189903	287.0	220.675
+;;; 90	0.01	2316.5199564180716	499.0	243.61111111111111
+;;; 100	0.01	1974.2281476249811	499.0	264.04
+;;; 110	0.01	1762.82591247919	499.0	306.37
+;;; 120	0.01	1602.2665463183953	499.0	352.65
+;;; 130	0.01	1500.5679199775138	499.0	378.87
+;;; 140	0.01	1424.849276092433	499.0	397.57
+;;; 150	0.01	1342.5852849678427	499.0	416.83
+;;; 160	0.01	1315.3974600006147	291.0	430.13
+;;; 170	0.01	1277.1001212118706	283.0	435.34
+;;; 180	0.01	1250.3224252344796	499.0	439.88
+;;; 190	0.01	1203.7295416588804	285.0	439.13
+;;; 200	0.01	1157.782843393469	499.0	434.47
+;;; 210	0.01	1137.3046039446501	499.0	430.32
+;;; 220	0.01	1109.5581791575626	499.0	410.96
+;;; 230	0.01	1095.9130060979567	499.0	402.86
+;;; 240	0.01	1093.169991861018	499.0	400.61
+;;; 250	0.01	1074.2466339414407	499.0	400.68
+;;; 260	0.01	1055.8367634379317	499.0	396.79
+;;; 270	0.01	1051.8374470387528	499.0	394.39
+;;; 280	0.01	1062.4143600174427	216.0	393.65
+;;; 290	0.01	1061.1474281683697	101.0	366.38
+;;; 300	0.01	1033.1013163162902	499.0	335.49
+;;; 310	0.01	1016.0208889589491	397.0	314.86
+;;; 320	0.01	1056.2010638256388	14.0	293.28
+;;; 330	0.01	1099.7854964626	12.0	257.53
+;;; 340	0.01	1081.4354445674596	21.0	218.91
+;;; 350	0.01	1063.7934115389696	29.0	176.77
+;;; 360	0.01	1115.2033627477722	12.0	142.78
+;;; 370	0.01	1133.86265322104	341.0	108.2
+;;; 380	0.01	1186.8809451058805	114.0	72.66
+;;; 390	0.01	1271.8660235081036	322.0	93.85
+;;; 400	0.01	1122.9219668709386	499.0	131.72
+;;; 410	0.01	1111.7184407732693	499.0	159.04
+;;; 420	0.01	1125.3117668492916	499.0	192.33
+;;; 430	0.01	1193.1417850900218	499.0	240.41
+;;; 440	0.01	1144.6121423877482	499.0	285.33
+;;; 450	0.01	1180.6394058179933	499.0	331.53
+;;; 460	0.01	1185.9778197875492	499.0	376.81
+;;; 470	0.01	1168.3847265094878	499.0	422.25
+;;; 480	0.01	1164.3418660676534	499.0	466.16
+;;; 490	0.01	1154.7829438634908	499.0	479.76
+;;; 500	0.01	1133.6897596689325	499.0	482.55
+;;; 510	0.01	1115.4514814584634	499.0	481.97
+;;; 520	0.01	1113.7423960253525	499.0	489.64
+;;; 530	0.01	1110.6740201612386	499.0	484.69
+;;; 540	0.01	1096.079532841582	499.0	485.97
+;;; 550	0.01	1080.01137985578	499.0	483.91
+;;; 560	0.01	1080.3647635563213	499.0	482.57
+;;; 570	0.01	1102.3256523158943	499.0	483.69
+;;; 580	0.01	1084.640858330968	499.0	478.82
+;;; 590	0.01	1038.4736119340726	499.0	477.16
+;;; Best run: 489.75
+;;; 
+;; <-
+;; =>
+;;; {"type":"html","content":"<span class='clj-nil'>nil</span>","value":"nil"}
+;; <=
+
+;; @@
+
+;; @@
diff --git a/src/lambda_ml/q_network.clj b/src/lambda_ml/q_network.clj
new file mode 100644
index 0000000..dd5e6c8
--- /dev/null
+++ b/src/lambda_ml/q_network.clj
@@ -0,0 +1,147 @@
+(ns lambda-ml.q-network
+  (:require [lambda-ml.core :as c]
+            [lambda-ml.neural-network :as nn]))
+
+;; Environment
+
+(defn environment-reset
+  [env]
+  ((:reset env) (:actual env)))
+
+(defn environment-step
+  [env action]
+  ((:step env) (:actual env) action))
+
+(defn environment-step-reward
+  [env step]
+  ((:reward env) step))
+
+(defn environment-step-state
+  [env step]
+  ((:state env) step))
+
+(defn environment-step-done
+  [env step]
+  ((:done env) step))
+
+(defn make-environment
+  [env reset step reward state done]
+  {:actual env
+   :reset reset
+   :step step
+   :reward reward
+   :state state
+   :done done})
+
+;; Q Network
+
+(defn record
+  [model env state action step]
+  (let [{memory :memory capacity :capacity} model
+        observation {:from state
+                     :action action
+                     :to     (environment-step-state env step)
+                     :reward (environment-step-reward env step)
+                     :done   (environment-step-done env step)}]
+    ;; TODO: can define a bounded queue to be used as memory data structure
+    (->> (if (< (count memory) capacity)
+           (conj memory observation)
+           (conj (subvec memory 1) observation))
+         (assoc model :memory))))
+
+(defn replay
+  ([model]
+   (let [{memory :memory batch :batch} model]
+     (if (< (count memory) batch)
+       model
+       (replay model (c/sample-without-replacement memory batch)))))
+  ([model observations]
+   (let [{discount :discount network :network} model
+         ps (nn/neural-network-predict network (map :from observations))
+         qs (nn/neural-network-predict network (map :to observations))
+         targets (-> (fn [p q obs]
+                       (let [{a :action r :reward done :done} obs
+                             reward (if done
+                                      r
+                                      (+ r (* discount (apply max q))))]
+                         (assoc p a reward)))
+                     (map ps qs observations))]
+     (->> (nn/neural-network-fit network (map :from observations) targets)
+          (assoc model :network)))))
+
+(defn act-explore
+  "Explore: select random action"
+  [model]
+  (let [outputs (last (get-in model [:network :layers]))]
+    ;; TODO: model should store information about # of output, and a function can be used to sample random action from action space
+    (rand-int outputs)))
+
+(defn act-exploit
+  "Exploit: select best action with maximum Q-value"
+  [model state]
+  (let [{network :network} model]
+    (->> (nn/neural-network-predict network [state])
+         (first)
+         (map-indexed vector)
+         (apply max-key second)
+         (first))))
+
+(defn act
+  [model state]
+  (let [{explore :explore} model]
+    (if (< (rand) (- 1.0 explore))
+      (act-exploit model state)
+      (act-explore model))))
+
+(defn simulate
+  ([model env]
+   (simulate model env (environment-reset env) 0))
+  ([model env state reward]
+   (let [{stop? :stop memory :memory batch :batch} model
+         {:keys [explore-decay explore-min]} model
+         action (act model state)
+         step (environment-step env action)
+         model (record model env state action step)
+         model (replay model)
+         model (cond-> model
+                 (>= (count memory) batch)
+                 (update :explore #(max (* % explore-decay) explore-min)))]
+     (if (or (environment-step-done env step) (stop? reward))
+       [model reward]
+       (recur model
+              env
+              (environment-step-state env step)
+              (+ reward (environment-step-reward env step)))))))
+
+(defn q-network-fit
+  [model env]
+  (lazy-seq (let [[m r] (simulate model env)]
+              (cons [m r] (q-network-fit m env)))))
+
+(defn q-network-predict
+  [model env state]
+  (act-exploit model state))
+
+(defn evaluate
+  [model env]
+  (loop [state (environment-reset env)
+         reward 0]
+    (let [action (q-network-predict model env state)
+          step (environment-step env action)
+          r (environment-step-reward env step)]
+      (cond (environment-step-done env step) reward
+            ((:stop model) reward)           reward
+            :else
+            (recur (environment-step-state env step) (+ r reward))))))
+
+(defn make-q-network
+  [network capacity batch discount explore-decay explore-min stop]
+  {:network network
+   :memory []
+   :capacity capacity
+   :batch batch
+   :discount discount
+   :explore 1.0
+   :explore-decay explore-decay
+   :explore-min explore-min
+   :stop stop})