Reinforcement Learning with Parameterized Actions

We introduce a model-free algorithm for learning in Markov decision processes with parameterized actions--discrete actions with continuous parameters. At each step the agent must select both which action to use and which parameters to use with that action. We introduce the Q-PAMDP algorithm for learning in these domains, show that it converges to a local optimum, and compare it to direct policy search in the goalscoring and Platform domains.