def train_readout(X, y, Xt, yt, PRINTSTUFF, reg_fact=0):
    """
    Train and test a readout. Assumes labels are integers (0., ..., N_classes-1).

    :param X: training data
    :param y: training labels
    :param Xt: test data
    :param yt: test labels
    :param PRINTSTUFF: print or not
    :param reg_fact: regularization constant, default: 0
    :returns: tuple of training and test error
    """

    # add constant component to states for bias
    X = np.hstack((np.ones((len(X), 1)), X))
    Xt = np.hstack((np.ones((len(Xt), 1)), Xt))

    # train
    if reg_fact == 0:
        w = np.linalg.lstsq(X, y)[0]
    else:
        I = np.eye(X.shape[1])
        w = np.linalg.inv(np.dot(X.T, X) + reg_fact*I).dot(X.T).dot(y)

    # compute predictions
    max_label = y.max()
    y_train = np.clip(np.dot(X, w).round(), 0., max_label).astype(int)
    y_test = np.clip(np.dot(Xt, w).round(), 0., max_label).astype(int)

    # compute errors
    train_err = (y_train != y).sum() / len(y)
    test_err = (y_test != yt).sum() / len(yt)

    if PRINTSTUFF:
        print("X")
        print(X.shape)

        print("Xt")
        print(Xt.shape)

        print("reg_fact")
        print(reg_fact)

        print("w")
        print(w.shape)

        print("y_train")
        print(y_train.shape)

        print("y_test")
        print(y_test.shape)

        print("train_err")
        print(train_err)

        print("test_err")
        print(test_err)

    return train_err, test_err