Before revision:  We show how this view can be embedded into the existing aggregation framework of ADP, providing a disciplined mechanism to tune the aggregation and disaggregation probabilities . This embedding into aggregation also reveals how the approximation's accuracy depends on a certain local linearity of the value function .
After revision:  We show how this view can be embedded into the existing aggregation framework of ADP, providing a disciplined mechanism to tune the aggregation and disaggregation probabilities .