# MIT Deep RL

## MIT 6.S091: Introduction to Deep Reinforcement Learning (Deep RL)

RL is teaching BY experience. A good strategy for an agent would be to always choose an action that maximizes the (discounted) future reward

Defining a useful state space, action space and reward are hard part. Getting meaningful data fro the formalization is very hard.

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{% embed url="<https://www.youtube.com/watch?v=zR11FLZ-O9M>" %}

### Environment and Actions

![Deep RL lecture -MIT](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-7abd0e3f3038eb85caff2457b9661114122c88f5%2Fimage.png?alt=media)

Challenge in RL in real-world applications are how to provide the experience? One option is providing Realistic simulation + transfer learning

#### Components of RL agent

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-9e48fdb064342ac4d3edd0ff9ab90bbe71c345fc%2Fimage.png?alt=media)

### Maximize the reward

A good strategy for an agent would be to always choose an action that maximizes the (discounted) future reward

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-2f2cd0400598f5700ea1185658cbe50d074c3ad5%2Fimage.png?alt=media)

### Optimal Policy

Both Environment model and Reward structures have big impact on optimal policy

### Types of Reinforcement Learning

It can be classified either Model-based or Model-Free

* Model-based: e.g. Chess etc
* Model-free
  * Value-based: Off-Policy, can choose the best action. Example: Q-Learning
  * Policy-based: On-Policy, Directly learn the best policy

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-3d929e7253c21967c28b3c00faa9a94b292645a8%2Fimage.png?alt=media)

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-5d33a0d860fd48b692a5f432c87e14f0f0ee86d2%2Fimage.png?alt=media)

#### Q-Learning (Deep Q-Learning Network)

It is a Model-Free, Off-Policy, Value-based Method

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-ac17e38025946677fe63592f2d175a52c3a07679%2Fimage.png?alt=media)

A conventional method of Q-Learning, it is basically a Q-table that updates. But it is not practical with limited rows/cols of table.

Deep Q-Learning uses a neural network to approximate the Q-Function. This does not require to know and understand the physics of the environment.

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-5b9a18637b049e9550572a46aaa5ee45839b7649%2Fimage.png?alt=media)

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-af2d622c3f914af6d69682524913f6a56b8b2590%2Fimage.png?alt=media)

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-d4161f4f1c11539bbc462ac36a016c2c6ef8fd64%2Fimage.png?alt=media)

### Policy Gradient

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-98dee453d084f1550a5f1b5f8eda2abb2b7b5fb0%2Fimage.png?alt=media)

Vanilla Policy Gradient

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-effc2b8e0070b7fa368a4e86c34f1a4b2b7c6a78%2Fimage.png?alt=media)

#### Advantage Actor-Critic (A2C)

Combined DQN and REINFORCE

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-494cec26dac1ddc30e2f8c0fcff6bad6929c7f03%2Fimage.png?alt=media)

#### Deep Deterministic Policy Gradient (DDPG)

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-c56681c445e9eafcfd8ec36610286e8f8528d05f%2Fimage.png?alt=media)

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-779ae3afbf0e56a057a308c00ea72e3282326617%2Fimage.png?alt=media)

![](https://3698175758-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MAwtzMy_pbrChIExFtN%2Fuploads%2Fgit-blob-985607015105593f617a9d332e01d4d858dd005e%2Fimage.png?alt=media)
