add option for regularization for GN, LM, LM2... not tested
add option for regularization for GN, LM, LM2... not tested

BerlinUnited/NaoTH,BerlinUnited/NaoTH,BerlinUnited/NaoTH,BerlinUnited/NaoTH,BerlinUnited/NaoTH,BerlinUnited/NaoTH,BerlinUnited/NaoTH