Abstract: A controller for controlling a system that includes a policy configured to control the system is provided. The controller includes an interface connected to the system, the interface being configured to acquire an action state and a measurement state via sensors measuring the system, a memory to store computer-executable program modules including a model learning module and a policy learning module, a processor configured to perform steps of the program modules. The steps include offline-modeling to generate offline-learning states based on the action state and measurement state using the model learning program, providing the offline states to the policy learning program to generate policy parameters, and updating the policy of the system to operate the system based on the policy parameters.