This technical report presents several learning and optimal control techniques in robotics in the form of simple toy problems that can be easily coded. It comes as part of Robotics Codes From Scratch (RCFS) , a website containing interactive sandbox examples and exercises, together with a set of standalone source code examples gathered in a git repository, which can be accessed at:

Each section in this report lists the corresponding source codes in Python and Matlab (ensuring full compatibility with GNU Octave), as well as in C++ and Julia for some of the principal examples, which can be accessed at: