--- a
+++ b/examples/legacy/helpers.py
@@ -0,0 +1,25 @@
+from keras.models import Sequential, Model
+from keras.layers import Dense, Activation, Flatten, Input, concatenate
+
+def policy_nn(shape_in, shape_out, hidden_layers = 3, hidden_size = 32):
+    actor = Sequential()
+    actor.add(Flatten(input_shape=(1,) + (shape_in, )))
+    for i in range(hidden_layers):
+        actor.add(Dense(hidden_size))
+        actor.add(Activation('relu'))
+    actor.add(Dense(shape_out))
+    actor.add(Activation('sigmoid'))
+    return actor
+
+def q_nn(nb_obs, nb_act, hidden_layers = 3, hidden_size = 64):
+    action_input = Input(shape=(nb_act, ), name='action_input')
+    observation_input = Input(shape=(1,) + (nb_obs, ), name='observation_input')
+    flattened_observation = Flatten()(observation_input)
+    x = concatenate([action_input, flattened_observation])
+    for i in range(hidden_layers):
+        x = Dense(hidden_size)(x)
+        x = Activation('relu')(x)
+    x = Dense(1)(x)
+    x = Activation('linear')(x)
+    critic = Model(inputs=[action_input, observation_input], outputs=x)
+    return critic, action_input
\ No newline at end of file