criticNetwork = [
    featureInputLayer(numObservations,'Normalization','none','Name','observations')
    fullyConnectedLayer(64,'Name','fc1')
    reluLayer('Name','relu1')
    fullyConnectedLayer(32,'Name','fc2')
    reluLayer('Name','relu2')
    fullyConnectedLayer(16, 'Name','fc3')
    fullyConnectedLayer(1,'Name','fc4')];
criticOptions = rlRepresentationOptions('LearnRate',1e-3,'GradientThreshold',1);
critic = rlValueRepresentation(criticNetwork,observationInfo,...
    'Observation',{'observations'},criticOptions);
actorNetwork = [
    featureInputLayer(numObservations,'Normalization','none','Name','observations')
    fullyConnectedLayer(64,'Name','fc1')
    reluLayer('Name','relu1')
    fullyConnectedLayer(32,'Name','fc2')
    reluLayer('Name','relu2')
    fullyConnectedLayer(numActions, 'Name', 'out')
    softmaxLayer('Name','actionProb')];
actorOptions = rlRepresentationOptions('LearnRate',2e-4,'GradientThreshold',1);
actor = rlStochasticActorRepresentation(actorNetwork,observationInfo,actionInfo,...
    'Observation',{'observations'},actorOptions);