We present three ways of combining linear programming with the kernel trick to find value function approximations for reinforcement learning. One formulation is based on SVM regression; the second is based on the Bellman equation; and the third seeks only to ensure that good moves have an advantage over bad moves. All formu(cid:173) lations attempt to minimize the number of support vectors while fitting the data. Experiments in a difficult, synthetic maze problem show that all three formulations give excellent performance, but the advantage formulation is much easier to train. Unlike policy gradi(cid:173) ent methods, the kernel methods described here can easily'adjust the complexity of the function approximator to fit the complexity of the value function.

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.

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.

One formulation is based on SVM regression; the second is based on the Bellman equation; and the third seeks only to ensure that good moves have an advantage over bad moves. All formulations attemptto minimize the number of support vectors while fitting the data. Experiments in a difficult, synthetic maze problem show that all three formulations give excellent performance, but the advantage formulation is much easier to train. Unlike policy gradient methods,the kernel methods described here can easily'adjust the complexity of the function approximator to fit the complexity of the value function.