On Gaussian approximation for entropy-regularized Q-learning with function approximation

This paper proposes a corrected heavy-ball Q-learning method for reinforcement learning (RL) and establishes convergence of its deterministic mean dynamics. It also identifies conditions under which the method is theoretically guaranteed to converge faster than standard Q-learning. The same construction is then extended to Q-learning with linear function approximation, where analogous convergence and acceleration statements are derived for the corresponding corrected fixed point. The sampled stochastic versions are treated through conditional-mean recursions and, in the stated linear-function-approximation setting, finite-time bounds. The analysis is based on a switched linear system (SLS) representation of Q-learning algorithms and on the joint spectral radius (JSR) of the associated switching families. This SLS viewpoint is not commonly used in standard analyses of Q-learning, and it provides a complementary framework and new insight into how heavy-ball momentum can accelerate Q-learning.

Establishing almost sure convergence rates for stochastic approximation and reinforcement learning under Markovian noise is a fundamental theoretical challenge. We make progress towards this challenge for a class of stochastic approximation algorithms whose expected updates are contractive, a setting that arises in many reinforcement learning algorithms such as $Q$-learning and linear temporal difference learning. Specifically, for a power-law learning rate $O(n^{-η})$ with $η\in (1/2, 1)$, we obtain an almost sure convergence rate arbitrarily close to $o(n^{1 - 2η})$. For a harmonic learning rate $O(n^{-1})$, we obtain an almost sure convergence rate arbitrarily close to $o(n^{-1})$, which we argue is a strong result because it is close to the optimal rate $O(n^{-1}\log\log n)$ given by the law of the iterated logarithm (for a special case of i.i.d. noise). Key to our analysis is a novel Lyapunov drift construction that applies a Poisson-equation based correction for Markovian noise to the well-established Moreau-envelope smoothing for the contractive mapping.

For constant-stepsize stochastic approximation (SA), the iterates converge in distribution to a stationary law that depends on the stepsize $α.$ Steady-state convergence (SSC) concerns the limit of the scaled stationary distribution as $α\downarrow 0.$ Existing SSC theory requires i.i.d. or additive noise and global differentiability of the mean operator, and yields suboptimal rates. We develop a unified SSC theory for constant-stepsize contractive SA driven by Markovian, multiplicative noise, covering both locally differentiable and locally nondifferentiable mean operators. A key methodological contribution is a multi-step universality framework that progressively reduces the original stochastic recursion to tractable auxiliary dynamics while preserving its steady-state limit. Under local quadratic linearization at the fixed point, we obtain a Gaussian approximation of the scaled steady state at the optimal rate $O(\sqrtα)$ in Wasserstein-2 distance, which further gives finite-time Gaussian approximations for the raw iterates. In the locally nondifferentiable regime, we establish a general SSC result and show that the leading-order asymptotic bias can be of order $\sqrtα$, in contrast to the $α$-order bias in the smooth regime. We apply the theory to Markovian linear SA and asynchronous Q-learning, neither of which is covered by prior results. We further propose a bias-reduction scheme for Q-learning that requires no knowledge of the local smoothness regime, validated by numerical experiments.