diff --git a/electives/amr/autonomous-mobile-robots-cheatsheet.pdf b/electives/amr/autonomous-mobile-robots-cheatsheet.pdf
index 21f660a..e1b3718 100644
Binary files a/electives/amr/autonomous-mobile-robots-cheatsheet.pdf and b/electives/amr/autonomous-mobile-robots-cheatsheet.pdf differ
diff --git a/electives/amr/autonomous-mobile-robots-cheatsheet.tex b/electives/amr/autonomous-mobile-robots-cheatsheet.tex
index c2e6544..5cf1c54 100644
--- a/electives/amr/autonomous-mobile-robots-cheatsheet.tex
+++ b/electives/amr/autonomous-mobile-robots-cheatsheet.tex
@@ -89,6 +89,10 @@
 \input{parts/05_planning-control/01_motion-planning-exploration/02_rrt.tex}
 \input{parts/05_planning-control/01_motion-planning-exploration/03_exploration.tex}
 \input{parts/05_planning-control/01_motion-planning-exploration/04_collision-avoidance.tex}
-% \input{parts/05_planning-control/01_motion-planning-exploration/}
+\input{parts/05_planning-control/02_learning-to-act/00_intro.tex}
+\input{parts/05_planning-control/02_learning-to-act/01_mdp.tex}
+\input{parts/05_planning-control/02_learning-to-act/02_reinforcement-learning.tex}
+% \input{parts/05_planning-control/02_learning-to-act/}
+% \input{parts/05_planning-control/}
 
 \end{document}
diff --git a/electives/amr/parts/05_planning-control/02_learning-to-act/00_intro.tex b/electives/amr/parts/05_planning-control/02_learning-to-act/00_intro.tex
new file mode 100644
index 0000000..b314db0
--- /dev/null
+++ b/electives/amr/parts/05_planning-control/02_learning-to-act/00_intro.tex
@@ -0,0 +1,4 @@
+\subsection{Learning To Act}
+Used if there is no state-transition model or cost/reward func.
+
+\bi{Markov Decision Process}
diff --git a/electives/amr/parts/05_planning-control/02_learning-to-act/01_mdp.tex b/electives/amr/parts/05_planning-control/02_learning-to-act/01_mdp.tex
new file mode 100644
index 0000000..e69de29
diff --git a/electives/amr/parts/05_planning-control/02_learning-to-act/02_reinforcement-learning.tex b/electives/amr/parts/05_planning-control/02_learning-to-act/02_reinforcement-learning.tex
new file mode 100644
index 0000000..e69de29