Adaptive state space partitioning for reinforcement learning
The convergence property of reinforcement learning has been extensively investigated in the field of machine learning, however, its applications to real-world problems are still constrained due to its computational complexity. A novel algorithm to improve the applicability and efficacy of reinforcement learning algorithms via adaptive state space partitioning is presented. The proposed temporal difference learning with adaptive vector quantization (TD-AVQ) is an online algorithm and does not assume any a priori knowledge with respect to the learning task and environment. It utilizes the information generated from the reinforcement learning algorithms. Therefore, no additional computations on the decisions of how to partition a particular state space are required. A series of simulations are provided to demonstrate the practical values and performance of the proposed algorithms in solving robot motion planning problems.
state space partitioning reinforcement learning nearest neighbor quantizer peg-in-hole navigation