diff --git a/bolero/controller/__init__.py b/bolero/controller/__init__.py
index 568ac73b..19f33581 100644
--- a/bolero/controller/__init__.py
+++ b/bolero/controller/__init__.py
@@ -1,4 +1,5 @@
-from .controller import Controller, ContextualController
+from .controller import Controller, AveragingEpisodesController, \
+    ContextualController
 
 
-__all__ = ["Controller", "ContextualController"]
+__all__ = ["Controller", "AveragingEpisodesController", "ContextualController"]
diff --git a/bolero/controller/controller.py b/bolero/controller/controller.py
index 418233aa..e3e8fcf0 100644
--- a/bolero/controller/controller.py
+++ b/bolero/controller/controller.py
@@ -1,5 +1,6 @@
 # Author: Alexander Fabisch <afabisch@informatik.uni-bremen.de>
 #         Jan Hendrik Metzen <jhm@informatik.uni-bremen.de>
+#         Marc Otto <maotto@uni-bremen.de>
 
 import numpy as np
 import warnings
@@ -308,6 +309,120 @@ def _perform_test(self, meta_parameter_keys, meta_parameters):
         return performance - optimum
 
 
+class AveragingEpisodesController(Controller):
+    """Controller for non-deterministic problems.
+
+    See base class "Controller" for details on usage.
+
+    Additional Parameters
+    ----------
+    num_repetitions_to_average : int, optional (default: 10)
+        Number of repetitions per episode. For one episode, several rollouts
+        are executed with the same behavior. Note that this only makes sense
+        if the environment is stochastic or specifically prepared via the
+        argument environment_preparation_function
+
+    feedback_averaging_function : function, optional (default: median_of_sums)
+        Function with signature: list of feedbacks -> single element list,
+        where the input list is as long as the number of repetitions.
+        Note that the number of feedbacks per rollout may vary.
+        See AveragingEpisodesController.median_of_sums (default) for an example
+
+    environment_preparation_function : function, optional (default: None)
+        function with signature: (environment, int repetition_index) -> None
+        Prepares the environment for a specific repetition.
+    """
+    def __init__(self, config={}, environment=None, behavior_search=None,
+                 num_repetitions_to_average=10,
+                 feedback_averaging_function=None,
+                 environment_preparation_function=None,
+                 **kwargs):
+        super(AveragingEpisodesController, self).__init__(
+            config, environment, behavior_search, **kwargs)
+
+        self.record_inputs = False
+        self.record_outputs = False
+        self.record_feedbacks = False
+        self.accumulate_feedbacks = False  # see feedback_averaging_function
+
+        if feedback_averaging_function is None:
+            feedback_averaging_function = self.median_of_sums
+
+        self._set_attribute(config, "num_repetitions_to_average",
+                            num_repetitions_to_average)
+        self._set_attribute(config, "feedback_averaging_function",
+                            feedback_averaging_function)
+        self._set_attribute(config, "environment_preparation_function",
+                            environment_preparation_function)
+
+    @staticmethod
+    def median_of_sums(list_of_feedbacks):
+        """Accumulates feedbacks of each episode and returns median
+
+        Parameters
+        ----------
+        list_of_feedbacks : list
+            feedbacks per episode. Note that episode length may vary, while
+            the length of this list is equal to num_repetitions_to_average
+
+        Returns
+        -------
+        averaged_accumulated_feedback : list with one element
+            median of the accumulated feedbacks of all repetitions
+        """
+        return np.median([np.sum(feedbacks_)
+                          for feedbacks_ in list_of_feedbacks])
+
+    def episode_with(self, behavior, meta_parameter_keys=[],
+                     meta_parameters=[], record=False):
+        """Execute a behavior in the environment.
+
+        Parameters
+        ----------
+        behavior : Behavior
+            Fix behavior
+
+        meta_parameter_keys : list, optional (default: [])
+            Meta parameter keys
+
+        meta_parameters : list, optional (default: [])
+            Meta parameter values
+
+        record : bool, optional (default: True)
+            Record feedbacks or trajectories if activated
+
+        Returns
+        -------
+        feedbacks : array, shape (n_steps,)
+            Feedback for each step in the environment
+        """
+
+        if self.num_repetitions_to_average == 1:
+            return super(AveragingEpisodesController, self).episode_with(
+                behavior, meta_parameter_keys=meta_parameter_keys,
+                meta_parameters=meta_parameters, record=record
+            )
+        if record:
+            raise ValueError("Recording not supported when"
+                             " averaging episodes' returns")
+        feedbacks = []
+        for i in range(self.num_repetitions_to_average):
+            if i > 0:
+                # for i==0 it is done already by behavior search
+                behavior.reset()
+
+            if self.environment_preparation_function:
+                self.environment_preparation_function(self.environment, i)
+
+            feedbacks.append(
+                super(AveragingEpisodesController, self).episode_with(
+                    behavior, meta_parameter_keys=meta_parameter_keys,
+                    meta_parameters=meta_parameters, record=record
+                ))
+
+        return self.feedback_averaging_function(feedbacks)
+
+
 class ContextualController(Controller):
     """Controller for contextual problems.