Distributed TD(0) With Almost No Communication

This paper revisits the temporal difference (TD) learning algorithm for the policy evaluation tasks in reinforcement learning. Typically, the performance of TD(0) and TD( λ) is very sensitive to the choice of stepsizes. Oftentimes, TD(0) suffers from slow convergence. Motivated by the tight link between the TD(0) learning algorithm and the stochastic gradient methods, we develop a provably convergent adaptive projected variant of the TD(0) learning algorithm with linear function approximation that we term AdaTD(0). In contrast to the TD(0), AdaTD(0) is robust or less sensitive to the choice of stepsizes. Analytically, we establish that to reach an ϵ accuracy, the number of iterations needed is [Formula: see text] in the general case, where ρ represents the speed of the underlying Markov chain converges to the stationary distribution. This implies that the iteration complexity of AdaTD(0) is no worse than that of TD(0) in the worst case. When the stochastic semi-gradients are sparse, we provide theoretical acceleration of AdaTD(0). Going beyond TD(0), we develop an adaptive variant of TD( λ), which is referred to as AdaTD( λ). Empirically, we evaluate the performance of AdaTD(0) and AdaTD( λ) on several standard reinforcement learning tasks, which demonstrate the effectiveness of our new approaches.

In reinforcement learning, when the state space is enormous or infinite, it is not feasible to find the exact value for each state in the memory. A common way to tackle this problem is to adopt linear value function approximation technique. In this paper, we review some commonly used linear value function approximation algorithms, which divided into two classes. The first class is the so-called on-policy algorithms that mainly include temporal difference and least-squares-based methods. The second is the off-policy algorithms that use two strategies to solve the exploration-exploitation problem. From the perspective of algorithm design, on-policy is simple, but it does not take both exploration and exploitation into consideration when collecting data, while the off-policy can well balance the relation between exploration and exploitation. In the end, we first present some experiments to demonstrate the usefulness of linear value function approximation technique in the continuous and high dimensional scenes, and then in-class and out-class experiments are respectively conducted to further illustrate the performance of different approximation algorithms.KeywordsReinforcement learningLinear value function approximationLeast-squares temporal difference

We introduce two new temporal difference (TD) algorithms based on the theory of linear least-squares function approximation. We define an algorithm we call Least-Squares TD (LS TD) for which we prove probability-one convergence when it is used with a function approximator linear in the adjustable parameters. We then define a recursive version of this algorithm, Recursive Least-Square TD (RLS TD). Although these new TD algorithms require more computation per time-step than do Sutton‘s TD(λ) algorithms, they are more efficient in a statistical sense because they extract more information from training experiences. We describe a simulation experiment showing the substantial improvement in learning rate achieved by RLS TD in an example Markov prediction problem. To quantify this improvement, we introduce the TD error variance of a Markov chain, σTD, and experimentally conclude that the convergence rate of a TD algorithm depends linearly on σTD. In addition to converging more rapidly, LS TD and RLS TD do not have control parameters, such as a learning rate parameter, thus eliminating the possibility of achieving poor performance by an unlucky choice of parameters.

Residual gradient (RG) was proposed as an alternative to TD(0) for policy evaluation when function approximation is used, but there exists little formal analysis comparing them except in very limited cases. This paper employs techniques from online learning of linear functions and provides a worst-case (non-probabilistic) analysis to compare these two types of algorithms when linear function approximation is used. No statistical assumptions are made on the sequence of observations, so the analysis applies to non-Markovian and even adversarial domains as well. In particular, our results suggest that RG may result in smaller temporal differences, while TD(0) is more likely to yield smaller prediction errors. These phenomena can be observed even in two simple Markov chain examples that are non-adversarial.

This paper presents an approach to combinatorial optimization problems using linear function approximation (LFA) to solve the Travelling Salesman Problem (TSP). We create a reinforcement learning model in which we parameterize our policy using linear function approximation instead of the more commonly used neural networks. We then evaluated our models based on two factors: training time and optimality. When we compared our results with a state-of-the-art neural network solver, we found that our model was able to solve the TSP accurately while using drastically less computational resources and time to train than the neural network algorithm (Kool et al., 2019).

Finite-Time Performance of Distributed Temporal-Difference Learning with Linear Function Approximation

We introduce a diffusion-based algorithm in which multiple agents cooperate to predict a common and global state-value function by sharing local estimates and local gradient information among neighbors. Our algorithm is a fully distributed implementation of the gradient temporal difference with linear function approximation, to make it applicable to multiagent settings. Simulations illustrate the benefit of cooperation in learning, as made possible by the proposed algorithm.

The goal of this paper is to investigate linear approximations of random functions and permutations. Our motivation is twofold. First, before the distinguishability of a practical cipher from an ideal one can be analysed, the cryptanalyst must have an accurate understanding of the statistical behaviour of the ideal cipher. Secondly, this issue has been neglected both in old and in more recent studies, particularly when multiple linear approximations are being used simultaneously. Traditional models have been based on the average behaviour and simplified using other assumptions such as independence of the linear approximations. Multidimensional cryptanalysis was introduced to avoid making artificial assumptions about statistical independence of linear approximations. On the other hand, it has the drawback of including many trivial approximations that do not contribute to the attack but just cause a waste of time and memory. We show for the first time in this paper that the trivial approximations reduce the degree of freedom of the related χ2 distribution. Previously, the affine linear cryptanalysis was proposed to allow removing trivial approximations and, at the same time, admitting a solid statistical model. In this paper, we identify another type of multidimensional linear approximation, called Davies-Meyer approximation, which has similar advantages, and present full statistical models for both the affine and the Davies-Meyer type of multidimensional linear approximations. The new models given in this paper are realistic, accurate and easy to use. They are backed up by standard statistical tools such as Pearson’s χ2 test and finite population correction and demonstrated to work accurately using practical examples.

We describe the Fourier basis, a linear value function approximation scheme based on the Fourier series. We empirically demonstrate that it performs well compared to radial basis functions and the polynomial basis, the two most popular fixed bases for linear value function approximation, and is competitive with learned proto-value functions.

In this article, we consider policy evaluation in off-policy reinforcement learning and propose a novel procedure (Stochastic Preconditioned Temporal Difference (SPTD)) that achieves the optimal convergence rate under linear function approximation. The procedure has a linear computational complexity of the dimension of the feature space in each iteration. Under Markovian sampling, we establish finite-sample rates when the target policy can be different from the behavior policy for data generation. Our procedure is the first algorithm for the off-policy policy evaluation that has the optimal rate $\mathcal {O}(1/t)$O(1/t) under the mean square error. We also provide the first result on the asymptotic distribution and give the nearly optimal step size $\alpha _{t} = \mathcal {O}(t^{-2/3})$αt=O(t-2/3). The numerical performance of the procedure is studied in both on-policy and off-policy settings. Extensive numerical experiments demonstrate that our procedure uniformly outperforms existing methods.

We introduce two new temporal diffence (TD) algorithms based on the theory of linear least-squares function approximation. We define an algorithm we call Least-Squares TD (LS TD) for which we prove probability-one convergence when it is used with a function approximator linear in the adjustable parameters. We then define a recursive version of this algorithm, Recursive Least-Squares TD (RLS TD). Although these new TD algorithms require more computation per time-step than do Sutton's TD(λ) algorithms, they are more efficient in a statistical sense because they extract more information from training experiences. We describe a simulation experiment showing the substantial improvement in learning rate achieved by RLS TD in an example Markov prediction problem. To quantify this improvement, we introduce theTD error variance of a Markov chain, ωTD, and experimentally conclude that the convergence rate of a TD algorithm depends linearly on ωTD. In addition to converging more rapidly, LS TD and RLS TD do not have control parameters, such as a learning rate parameter, thus eliminating the possibility of achieving poor performance by an unlucky choice of parameters.

Energy harvesting (EH) two-hop communications are considered. The transmitter and the relay harvest energy from the environment and use it exclusively for transmitting data. A data arrival process is assumed at the transmitter. At the relay, a finite data buffer is used to store the received data. We consider a realistic scenario in which the EH nodes have only local causal information, i.e., at any time instant, each EH node only knows the current value of its EH process, channel state and data arrival process. Our goal is to find a power allocation policy to maximize the throughput at the receiver. We show that because the EH nodes have local causal information, the two-hop communication problem can be separated into two point-to-point problems. Consequently, independent power allocation problems are solved at each EH node. To find the power allocation policy, reinforcement learning with linear function approximation is applied. Moreover, to perform function approximation two feature functions which consider the data arrival process are introduced. Numerical results show that the proposed approach has only a small degradation as compared to the offline optimum case. Furthermore, we show that with the use of the proposed feature functions a better performance is achieved compared to standard approximation techniques.

Currently, there are various reels on the market regarding the type of mechanism, which achieves the winding and unwinding of the line. The designers have the purpose of obtaining a linear transmission function, by means of a simple and small-sized mechanism. However, the present solutions are not satisfactory because of large deviations from linearity of the transmission function and complexity of mechanical schema. A novel solution for the reel spool mechanism is proposed. Its kinematic schema and synthesis method are described. The kinematic schema of the chosen mechanism is based on a noncircular gear in series with a scotch-yoke mechanism. The yoke is driven by a stud fixed on the driving noncircular gear. The drawbacks of other models regarding the effects occurring at the ends of the spool are eliminated through achieving an appropriate transmission function of the spool. The linear function approximation with curved end-arches appropriately computed to ensure mathematical continuity is very good. The experimental results on the mechanism model validate the theoretical approach. The developed mechanism solution is recorded under a reel spool mechanism patent.

The term “nexting” has been used by psychologists to refer to the propensity of people and many other animals to continually predict what will happen next in an immediate, local, and personal sense. The ability to “next” constitutes a basic kind of awareness and knowledge of one’s environment. In this paper we present results with a robot that learns to next in real time, predicting thousands of features of the world’s state, including all sensory inputs, at timescales from 0.1 to 8 seconds. This was achieved by treating each state feature as a reward-like target and applying temporal-difference methods to learn a corresponding value function with a discount rate corresponding to the timescale. We show that two thousand predictions, each dependent on six thousand state features, can be learned and updated online at better than 10Hz on a laptop computer, using the standard TD(λ) algorithm with linear function approximation. We show that this approach is efficient enough to be practical, with most of the learning complete within 30 minutes. We also show that a single tile-coded feature representation suffices to accurately predict many different signals at a significant range of timescales. Finally, we show that the accuracy of our learned predictions compares favorably with the optimal off-line solution.

The task of simultaneous localization and mapping (SLAM) is to build environmental map and locate the position of mobile robot at the same time. FastSLAM 2.0 is one of powerful techniques to solve the SLAM problem. However, there are two obvious limitations in FastSLAM 2.0, one is the linear approximations of nonlinear functions which would cause the filter inconsistent and the other is the “particle depletion” phenomenon. A kind of PSO & H∞-based FastSLAM 2.0 algorithm is proposed. For maintaining the estimation accuracy, H∞ filter is used instead of EKF for overcoming the inaccuracy caused by the linear approximations of nonlinear functions. The unreasonable proposal distribution of particle greatly influences the pose state estimation of robot. A new sampling strategy based on PSO (particle swarm optimization) is presented to solve the “particle depletion” phenomenon and improve the accuracy of pose state estimation. The proposed approach overcomes the obvious drawbacks of standard FastSLAM 2.0 algorithm and enhances the robustness and efficiency in the parts of consistency of filter and accuracy of state estimation in SLAM. Simulation results demonstrate the superiority of the proposed approach.