Ideas From: RL in Continuous Action Spaces. Van Hasselt, Wiering


  • Don’t love this paper but I have seen it cited a bit.  Perhaps because of the tiny amount of literature on the subject, or maybe I’m missing something.
  • Describes the CACLA, Continuous Actor-Critic Learning Automaton
  • Algo is online, model free, TD based
  • Proposes using gaussian exploration as opposed to epsilon-greedy
  • In ACLA (the non-continuous version of the algorithm) the probability of selecting an action increases by a fixed amount if the sign of the TD error is positive, otherwise it is unchanged
    • Claim this is good because it is invariant to scaling of reward function
    • Propose potentially updating it by more if the error is large relative to the variance of past errors
  • Uses neural nets as FAs for Q function, and then uses wire fitting to interpolate between this.  Uses 9 wires.
    • I have no idea what wire-fitting does
  • Claim that due to the nature of the wire fitting/FA, the estimated optimal action is always represented by a wire so no interpolation is needed
  • As is the case with model free/TD systems, the learning takes many data points to learn
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