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hpi/__init__.py

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+"""HPI: Homotopy-Based Policy Iteration for Adaptive Optimal Control.
+
+Implements the algorithm from:
+  Chen et al., "Adaptive Optimal Control of Unknown Nonlinear Systems
+  via Homotopy-Based Policy Iteration", IEEE TAC, 2024.
+
+Uses neural network function approximators (CriticNN, ActorNN) trained
+via gradient-based Bellman residual minimization.
+"""
+
+from .nn_models import (ActorNN, CriticNN, check_lyapunov_decrease,
+                        check_positive_definite, compute_q)
+from .data_collector import DataCollector
+from .nn_trainer import NNTrainer
+from .hpi_controller import HPIController
+
+__all__ = [
+    "CriticNN",
+    "ActorNN",
+    "compute_q",
+    "check_positive_definite",
+    "check_lyapunov_decrease",
+    "DataCollector",
+    "NNTrainer",
+    "HPIController",
+]