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# SCONE Concepts

The whole thing.

### Optimization

Typically, this is a CmaOptimizer or a CmaPoolOptimizer.

### Objective

Typically, this is a SimulationObjective.

### Model

A model, along with a simulation engine.

### Controller

Controllers compute the input values of the model actuators. Controllers can either be feed-forward (also referred to as 'open loop') or feedback (also referred to as 'closed loop').

In SCONE, controllers consist of modular components that can be combined to perform complex behaviors.

### Measure

Measures define the fitness or quality of a simulation. The goal of the optimizer is to minimize (or maximize, depending on the type) the measure.

• by tgeijten