diff --git a/rofunc/__init__.py b/rofunc/__init__.py
index eb30dabb4..a22a61fdd 100644
--- a/rofunc/__init__.py
+++ b/rofunc/__init__.py
@@ -19,11 +19,11 @@
 
 from .devices import zed, xsens, optitrack, mmodal, emg
 from . import simulator as sim
-# from .learning import ml
+from .learning import ml
 from .learning import RofuncIL, RofuncRL
-# from .planning_control import lqt, lqr
+from .planning_control import lqt, lqr
 from .utils import visualab, robolab, logger, oslab
 from .utils.datalab import primitive, data_generator
 from . import config
 
-# from .learning.ml import tpgmm, gmr, tpgmr
+from .learning.ml import tpgmm, gmr, tpgmr
diff --git a/rofunc/learning/ml/tpgmr.py b/rofunc/learning/ml/tpgmr.py
index ec466b135..d1e1237bf 100644
--- a/rofunc/learning/ml/tpgmr.py
+++ b/rofunc/learning/ml/tpgmr.py
@@ -35,7 +35,7 @@ def __init__(self, demos_x, task_params, nb_states: int = 4, reg: float = 1e-3,
         :param plot: whether to plot the result
         """
         super().__init__(demos_x, task_params, nb_states=nb_states, reg=reg, plot=plot)
-        self.gmr = rf.learning.gmr.GMR(self.demos_x, self.demos_dx, self.demos_xdx, nb_states=nb_states, reg=reg,
+        self.gmr = rf.gmr.GMR(self.demos_x, self.demos_dx, self.demos_xdx, nb_states=nb_states, reg=reg,
                                        plot=False)
 
     def gmm_learning(self):