you need to install the lpzrobots software package see
http://robot.informatik.uni-leipzig.de/software/
There are ubuntu packages and otherwise you can build it from the sources. Note the installation instructions.
Once the lpzrobots simulator is installed you can compile and execute the simulations in the subfolders:
> make
to compile them (or "make opt" to generate an optimized version) and use
> ./start
or
> ./start -h
to get a short help.

The learning rates for the controller (epsC) are the 100-fold of the actual value for convenience 
(so epsC=0.1 means epsilon=0.001).

Regards
  Georg
