1. MDPs and Reinforcement Learning

2. Overview MDPs Reinforcement learning

3. Sequential decision problems In an environment, find a sequence of actions in an uncertain environment that balance risks and rewards Markov Decision Process (MDP): –In a fully observable environment we know initial state (S0) and state transitions T(Si, Ak, Sj) = probability of reaching Sj from Si when doing Ak –States have a reward associated with them R(Si) We can define a policy π that selects an action to perform given a state, i.e., π(Si) Applying a policy leads to a history of actions Goal: find policy maximizing expected utility of history

4. 4x3 Grid World

5. Assume R(s) = -0.04 except where marked Here’s an optimal policy

6. 4x3 Grid World Different default rewards produce different optimal policies life=pain, get out quick Life = struggle, go for +1, accept risk Life = ok, go for +1, minimize risk Life = good, avoid exits

7. Finite and infinite horizons Finite Horizon –There’s a fixed time N when the game is over –U([s1…sn]) = U([s1…sn…sk]) –Find a policy that takes that into account Infinite Horizon –Game goes on forever The best policy for with a finite horizon can change over time: more complicated

8. Rewards The utility of a sequence is usually additive –U([s0…s1]) = R(s0) + R(s1) + … R(sn) But future rewards might be discounted by a factor γ –U([s0…s1]) = R(s0) + γ*R(s1) + γ 2 *R(s2)…+ γ n *R(sn) Using discounted rewards –Solves some technical difficulties with very long or infinite sequences and –Is psychologically realistic

9. 9 Value Functions The value of a state is the expected return starting from that state; depends on the agent’s policy: The value of taking an action in a state under policy  is the expected return starting from that state, taking that action, and thereafter following  :

10. 10 Bellman Equation for a Policy  The basic idea: So: Or, without the expectation operator:

11. Values for states in 4x3 world