SARSA

[manuelli]

• Implement SARSA update
• Test it for convergence with a known policy, i.e. our simple controller
• Implement full SARSA policy updates

[manuelli]

Currently the discrete version of this is working. 4 inner and 4 outer bins seems to work reasonably well. Have implemented the continuous version with function approximation. Now need to test it our for convergence.