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Experiments in off-policy reinforcement learning with the GQ(lambda) algorithm

  • Author / Creator
    Delp, Michael
  • Off-policy reinforcement learning is useful in many contexts. Maei, Sutton, Szepesvari, and others, have recently introduced a new class of algorithms, the most advanced of which is GQ(lambda), for off-policy reinforcement learning. These algorithms are the first stable methods for general off-policy learning whose computational complexity scales linearly with the number of parameters, thereby making them potentially applicable to large applications involving function approximation. Despite these promising theoretical properties, these algorithms have received no significant empirical test of their effectiveness in off-policy settings prior to the current work. Here, GQ(lambda) is applied to a variety of prediction and control domains, including on a mobile robot, where it is able to learn multiple optimal policies in parallel from random actions. Overall, we find GQ(lambda) to be a promising algorithm for use with large real-world continuous learning tasks. We believe it could be the base algorithm of an autonomous sensorimotor robot.

  • Subjects / Keywords
  • Graduation date
    2011-06
  • Type of Item
    Thesis
  • Degree
    Master of Science
  • DOI
    https://doi.org/10.7939/R33X03
  • License
    This thesis is made available by the University of Alberta Libraries with permission of the copyright owner solely for non-commercial purposes. This thesis, or any portion thereof, may not otherwise be copied or reproduced without the written consent of the copyright owner, except to the extent permitted by Canadian copyright law.
  • Language
    English
  • Institution
    University of Alberta
  • Degree level
    Master's
  • Department
    • Department of Computing Science
  • Supervisor / co-supervisor and their department(s)
    • Sutton, Richard (Computing Science)
  • Examining committee members and their departments
    • Reformat, Marek (Electrical and Computer Engineering)
    • Zhang, Hong (Computing Science)