diff --git a/Conference/CRV_2017_Farid_Alijani.pdf b/Conference/CRV_2017_Sensor_Integration_for_Autonomous_Docking_of_a_Mobile_Robot_with_Omnidirectional_Platform_mainAuthor_Farid_Alijani.pdf
similarity index 69%
rename from Conference/CRV_2017_Farid_Alijani.pdf
rename to Conference/CRV_2017_Sensor_Integration_for_Autonomous_Docking_of_a_Mobile_Robot_with_Omnidirectional_Platform_mainAuthor_Farid_Alijani.pdf
index 971e767f5084c53f2d568dababc484f0e964cc64..32ca574b711fadff8dcb0f863693a492fe63f7d6 100644
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diff --git a/Conference/Farid_Alijani.docx b/Conference/Farid_Alijani.docx
index dcce322dc32fdfc592da4dc0794c252d4062f433..b0f622d7d51f7a55e7789f4fd98c5c44b80622d1 100644
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diff --git a/Files_4_thesis/QL_Matrix.csv b/Files_4_thesis/RL/QL_Matrix.csv
similarity index 100%
rename from Files_4_thesis/QL_Matrix.csv
rename to Files_4_thesis/RL/QL_Matrix.csv
diff --git a/Files_4_thesis/QL_Matrix_21_7_16_2118.csv b/Files_4_thesis/RL/QL_Matrix_21_7_16_2118.csv
similarity index 100%
rename from Files_4_thesis/QL_Matrix_21_7_16_2118.csv
rename to Files_4_thesis/RL/QL_Matrix_21_7_16_2118.csv
diff --git a/Files_4_thesis/QL_Matrix_22_7_16_1546.csv b/Files_4_thesis/RL/QL_Matrix_22_7_16_1546.csv
similarity index 100%
rename from Files_4_thesis/QL_Matrix_22_7_16_1546.csv
rename to Files_4_thesis/RL/QL_Matrix_22_7_16_1546.csv
diff --git a/Files_4_thesis/QL_Matrix_22_7_16_1757.csv b/Files_4_thesis/RL/QL_Matrix_22_7_16_1757.csv
similarity index 100%
rename from Files_4_thesis/QL_Matrix_22_7_16_1757.csv
rename to Files_4_thesis/RL/QL_Matrix_22_7_16_1757.csv
diff --git a/Files_4_thesis/RL/Q_Learning_Plot.m b/Files_4_thesis/RL/Q_Learning_Plot.m
index 0e9722671d65ecff46791bc55ae712e5f99b3de8..94298d3210b97fb287a5c8de491368d3da2bf5e5 100644
--- a/Files_4_thesis/RL/Q_Learning_Plot.m
+++ b/Files_4_thesis/RL/Q_Learning_Plot.m
@@ -276,7 +276,8 @@ end
 
 vec_row(counter + 1) = i_G;
 vec_col(counter + 1) = j_G;
-
+figure;
+set(gcf,'color','white');
 
 plot(vec_col(1),vec_row(1),'ro','LineWidth',4);
 hold on;
@@ -285,7 +286,7 @@ hold on;
 plot(vec_col(size(vec_col,2)),vec_row(size(vec_row,2)),'ko','LineWidth',4)
 axis([0 row + 1 0 col + 1]);
 grid on
-title('Grid');
+title('Virtual Grid for Q-Learinig');
 ylabel('$ index_{\theta_{mar}} $','interpreter','latex','FontSize',17);
 xlabel('$ index_{y_{mar}}$','interpreter','latex','FontSize',17);
 l = legend('${Start}$','${\alpha = 0.1 , \gamma = 0.8}$','${Goal}$','Orientation','Horizontal');
diff --git a/MobileRobot/Machine_Learning/Practice/Q_learning.cpp b/MobileRobot/Machine_Learning/Practice/Q_learning.cpp
index 618349a6f763f283b80377377c72238d51a554ff..db21c8eb3ddc5bea549c805d6b820e32c9999148 100644
--- a/MobileRobot/Machine_Learning/Practice/Q_learning.cpp
+++ b/MobileRobot/Machine_Learning/Practice/Q_learning.cpp
@@ -1,3 +1,15 @@
+// Author : Farid Alijani 
+// Q_learning with reward distribution...
+// for further sample codes, please visit my GitHub page...
+
+// ----- How to Compile and run c++ file in Ubuntu ------ //
+ 
+ // In a terminal, go to directory that your c++ file exsist and To compile your c++ code, :
+ 
+ g++ -o output Q_learing.cpp
+
+ 
+
 #include <stdio.h>
 #include <iostream>
 #include <iomanip>
diff --git a/MobileRobot/Q_Learning_With_VS/Q_Learning_With_VS.sdf b/MobileRobot/Q_Learning_With_VS/Q_Learning_With_VS.sdf
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diff --git a/MobileRobot/Q_Learning_With_VS/Q_Learning_With_VS.v12.suo b/MobileRobot/Q_Learning_With_VS/Q_Learning_With_VS.v12.suo
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