Supplementary Materials A Algorithm details

Our innovation of optimizing interval times is highlighted in blue in Algorithm 1 . A key assumption of Algorithm 1 is that acting often using short time intervals will not hurt performance, and that maximal interaction (i.e. In many scenarios, this assumption seems reasonable and applying Algorithm 1 may work well. For example, some Atari games require frameskipping, i.e., repeating actions for Algorithm 2 assumes that the dynamics can be fully covered by random policies. However, these may be far away from the optimal policy.