Stuart Truax, 2022-06

This repository has several implementations of solution methods for Markov decision processes in a gridworld.

The methods include:

1. Exact methods:

• Value iteration
• Policy iteration
• Linear programming

2. Value iteration with maximum entropy (MaxEnt) regularization

A Markov decision process (MDP) is defined by:

• $S$ : a set of states

• $A$ : a set of actions

• $H$ : a finite time horizon $i=1, ..., H$

• $T$ : $S \times A \times S \times {1,...,H} \rightarrow [0,1]$ a transition probability function $P(s_{t+1} = s' | s_t = s, a_t = a)$

• $R$ : $S \times A \times S \times {1,...,H} \rightarrow \mathbb{R}$ a reward function $R(s,a,s')$

• $\gamma$: a discount factor.

The desired result is an optimal policy $\pi^{*}: S \times {0,...,H} \rightarrow A$ which describes the optimal action $a^{*}$to be undertaken for each state $s$.

Alternatively, to find $\pi$ such that:

$$ \text{max}{\pi} E[\sum{t=0}^{H}\gamma^{t} R(s_{t},a_t,s_{t+1})| \pi]$$

The solution methods are performed on a "gridworld", a discretized X-Y plane where the voids and boundaries of the plane are impassable, and rewards for being a given state are indicated by the colors (rewards can be negative).

Below is a comparison of the value and policy maps generated for the MDP gridworld by the exact solution methods

Solution Method	Value Function of Solution	Policy Function of Solution
Linear programming
Value iteration
Policy iteration

The solution methods yield roughly the same trends in the value and policy functions.