  Policy gradient is an effective way to estimate continuous action on the
environment. This paper, it about explaining the mathematical formula and code
implementation. In the end, comparing between the rotation angle of the stick
on CartPole , and the angle of the Autonomous vehicle when turning, and
utilizing the Bicycle Model, a simple Kinematic dynamic model, are the purpose
to discover the similarity between these two models, so as to facilitate the
model transfer from CartPole to the F1tenth Autonomous vehicle.
