diff --git a/PathPlanning/ModelPredictiveTrajectoryGenerator/neuralnet_init_pram_regressor.py b/PathPlanning/ModelPredictiveTrajectoryGenerator/neuralnet_init_pram_regressor.py
deleted file mode 100644
index 9fee81af..00000000
--- a/PathPlanning/ModelPredictiveTrajectoryGenerator/neuralnet_init_pram_regressor.py
+++ /dev/null
@@ -1,79 +0,0 @@
-"""
-
-author: Atsushi Sakai
-"""
-from sklearn.neural_network import MLPRegressor
-from matplotlib import pyplot as plt
-import numpy as np
-import math
-import motion_model
-
-
-def calc_motion_param(maxs, ds, maxk, dk):
-    s = np.arange(1.0, maxs, ds)
-    km = np.arange(-maxk, maxk, dk)
-    kf = np.arange(-maxk, maxk, dk)
-    motion_param = []
-
-    for p1 in s:
-        for p2 in km:
-            for p3 in kf:
-                motion_param.append([p1, p2, p3])
-
-    print("motion_param size is:", len(motion_param))
-    return motion_param
-
-
-def calc_state_param(motion_param):
-    print("calc_motion_param")
-
-    state_param = []
-
-    for p in motion_param:
-        x, y, yaw = motion_model.generate_last_state(p[0], p[1], p[2], 0.0)
-        state_param.append([x, y, yaw])
-
-    print("calc_state_param done", len(state_param))
-
-    return state_param
-
-
-def learn_motion_model():
-
-    # calc motion param
-    # s, k0, km, kf
-    maxk = math.radians(45.0)
-    dk = math.radians(1.0)
-    maxs = 50.0
-    ds = 5.0
-
-    motion_param = calc_motion_param(maxs, ds, maxk, dk)
-    state_param = calc_state_param(motion_param)
-    reg = MLPRegressor(hidden_layer_sizes=(100, 100, 100))
-    reg.fit(state_param, motion_param)
-    print(reg.score(state_param, motion_param))
-
-    x = 10.0
-    y = 5.0
-    yaw = math.radians(00.0)
-
-    predict = reg.predict([[x, y, yaw]])
-    print(predict)
-    x, y, yaw = motion_model.generate_trajectory(
-        predict[0, 0], predict[0, 1], predict[0, 2], 0.0)
-
-    plt.plot(x, y, "-r", label="trajectory")
-    plt.axis("equal")
-    plt.legend()
-    plt.grid(True)
-    plt.show()
-
-    print("Done")
-
-
-def main():
-    learn_motion_model()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/README.md b/README.md
index 26ec4147..b7015b4d 100644
--- a/README.md
+++ b/README.md
@@ -20,9 +20,14 @@ Path planning algorithm.
 
 This script is a path planning code with model predictive trajectory generator.
 
+Path optimization sample:
 
 ![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/ModelPredictiveTrajectoryGenerator/kn05animation.gif)
 
+Loopup table generation sample:
+
+![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/ModelPredictiveTrajectoryGenerator/lookuptable.png)
+
 see: 
 - [Optimal rough terrain trajectory generation for wheeled mobile robots](http://journals.sagepub.com/doi/pdf/10.1177/0278364906075328)