  We present a solution of the swing-up and balance task for the pendubot and
acrobot for the participation in the AI Olympics competition at IJCAI 2023. Our
solution is based on the Soft Actor Crtic (SAC) reinforcement learning (RL)
algorithm for training a policy for the swing-up and entering the region of
attraction of a linear quadratic regulator(LQR) controller for stabilizing the
double pendulum at the top position. Our controller achieves competitive scores
in performance and robustness for both, pendubot and acrobot, problem
scenarios.
