We propose a new approach to reinforcement learning which combines least squares function approximation with policy iteration. Our method is model-free and completely off policy. We are motivated by the least squares temporal difference learning algorithm (LSTD), which is known for its efficient use of sample experiences compared to pure temporal difference algorithms. LSTD is ideal for prediction problems, however it heretofore has not had a straightforward application to control problems. Moreover, approximations learned by LSTD are strongly influenced by the visitation distribution over states.

We address two open theoretical questions in Policy Gradient Reinforcement Learning. The first concerns the efficacy of using function approximation to represent the state action value function,.

The first is the widely used optimistic Q-learning, which initializes the Q-values to large initial values and then follows a greedy policy with respect to the Q-values. We show that setting the initial value sufficiently large guarantees the converges to an E optimal policy. The second is a new and novel algorithm incremental Q-learning, which gradually promotes the values of actions that are not taken. We show that incremental Q-learning converges, in the limit, to the optimal policy. Our incremental Q-learning algorithm can be viewed as derandomization of the E-greedy Q-learning. 1 Introduction One of the challenges of Reinforcement Learning is learning in an unknown environment.

We consider the use of two additive control variate methods to reduce the variance of performance gradient estimates in reinforcement learning problems. The first approach we consider is the baseline method, in which a function of the current state is added to the discounted value estimate. We relate the performance of these methods, which use sample paths, to the variance of estimates based on iid data. We derive the baseline function that minimizes this variance, and we show that the variance for any baseline is the sum of the optimal variance and a weighted squared distance to the optimal baseline. We show that the widely used average discounted value baseline (where the reward is replaced by the difference between the reward and its expectation) is suboptimal.

Virtually all existing work on value function approximation and policy-gradient methods starts with a parameterized formula for the value function or policy and thenseeks to find the best policythat canbe representedinthat parameterizedform. This can give rise to very difficult search problems for which the Bellman equation is of little or no use. In this paper, we take a different approach: rather than fixing the form of the function approximator and searching for a representable policy, we instead identify a good policy and then search for a function approximator that can represent it. Our approach exploits the ability of mathematical programming to represent a variety of constraints including those that derive from supervised learning, from advantage learning (Baird, 1993), and from the Bellman equation. By combining the kernel trick with mathematical programming, we obtain a function approximator that seeks to find the smallest number of support vectors sufficient to represent the desired policy.

We report on the use of reinforcement learning with Cobot, a software agent residing in the well-known online community LambdaMOO. Our initial work on Cobot (Isbell et al.2000) provided him with the ability to collect social statistics and report them to users. Here we describe an application of RL allowing Cobot to take proactive actions in this complex social environment, and adapt behavior from multiple sources of human reward. After 5 months of training, and 3171 reward and punishment events from 254 different LambdaMOO users, Cobot learned nontrivial preferences for a number of users, modifing his behavior based on his current state. Here we describe LambdaMOO and the state and action spaces of Cobot, and report the statistical results of the learning experiment.

This article presents a 2-phase computational learning model and application. As a demonstration, a system has been built, called CHIME for Computer Human Interacting Musical Entity. In phase 1 of training, recurrent back-propagation trains the machine to reproduce 3 jazz melodies. The recurrent network is expanded and is further trained in phase 2 with a reinforcement learning algorithm and a critique produced by a set of basic rules for jazz improvisation.

In packet switches, packets queue at switch inputs and contend for outputs. The contention arbitration policy directly affects switch performance. The best policy depends on the current state of the switch and current traffic patterns. This problem is hard because the state space, possible transitions, and set of actions all grow exponentially with the size of the switch. We present a reinforcement learning formulation of the problem that decomposes the value function into many small independent value functions and enables an efficient action selection.

Animal data on delayed-reward conditioning experiments shows a striking property - the data for different time intervals collapses into a single curve when the data is scaled by the time interval. This is called the scalar property of interval timing. Here a simple model of a neural clock is presented and shown to give rise to the scalar property. The model is an accumulator consisting of noisy, linear spiking neurons. It is analytically tractable and contains only three parameters.

Competition between actions is based on the motivating characteristics of their consequent states in this sense.