Markov Decision Processes

Partial observability is a notorious challenge in reinforcement learning (RL), due to the need to learn complex, history-dependent policies. Recent empirical successes have used privileged expert distillation--which leverages availability of latent state information during training (e.g., from a simulator) to learn and imitate the optimal latent, Markovian policy--to disentangle the task of "learning to see" from "learning to act". While expert distillation is more computationally efficient than RL without latent state information, it also has well-documented failure modes. In this paper--through a simple but instructive theoretical model called the perturbed Block MDP, and controlled experiments on challenging simulated locomotion tasks--we investigate the algorithmic trade-off between privileged expert distillation and standard RL without privileged information. Our main findings are: (1) The trade-off empirically hinges on the stochasticity of the latent dynamics, as theoretically predicted by contrasting approximate decodability with belief contraction in the perturbed Block MDP; and (2) The optimal latent policy is not always the best latent policy to distill. Our results suggest new guidelines for effectively exploiting privileged information, potentially advancing the efficiency of policy learning across many practical partially observable domains.

We study online episodic Constrained Markov Decision Processes (CMDPs) under both stochastic and adversarial constraints. We provide a novel algorithm whose guarantees greatly improve those of the state-of-the-art best-of-both-worlds algorithm introduced by Stradi et al. (2025). In the stochastic regime, i.e., when the constraints are sampled from fixed but unknown distributions, our method achieves $\widetilde{\mathcal{O}}(\sqrt{T})$ regret and constraint violation without relying on Slater's condition, thereby handling settings where no strictly feasible solution exists. Moreover, we provide guarantees on the stronger notion of positive constraint violation, which does not allow to recover from large violation in the early episodes by playing strictly safe policies. In the adversarial regime, i.e., when the constraints may change arbitrarily between episodes, our algorithm ensures sublinear constraint violation without Slater's condition, and achieves sublinear $α$-regret with respect to the unconstrained optimum, where $α$ is a suitably defined multiplicative approximation factor. We further validate our results through synthetic experiments, showing the practical effectiveness of our algorithm.

In dueling bandits, the learner compares two arms in each round and observes only which one is preferred. This paper asks what changes when the compared pair also affects the next state, as in a recommendation interface where the pair shown to a user affects the user's next context. We formulate this problem as a state-wise preference-based MDP, an episodic tabular MDP in which the learner selects a pair of arms at each visited state, observes only a noisy comparison between them, and moves to a next state that may depend on the pair. The preferences may change adversarially across episodes, and the loss of a pair is defined through Borda scores. We show that the minimax regret of this problem under known transitions is $\tildeΘ(\min\{HT,(H^3SK)^{1/3}T^{2/3}\})$, where $H$, $S$, $K$, and $T$ are the numbers of steps per episode, states, arms, and episodes, and that this rate is achieved by an algorithm based on online linear optimization over the set of occupancy measures. If the pair did not affect the next state, each state would be a separate dueling bandit, and the $T^{2/3}$ term of the minimax regret would be smaller by a factor of $H^{1/3}$, demonstrating the cost of having action-dependent state transitions. We also give a policy optimization algorithm with closed-form updates, whose regret is $\tilde{O}((H^4SK^3)^{1/3}T^{2/3})$ up to lower-order terms, and we extend both algorithms to unknown transitions.

This paper presents a state representation framework for Markov decision processes (MDPs) that can be learned solely from state trajectories, requiring neither reward signals nor the actions executed by the agent. We propose learning the minimum action distance (MAD), defined as the minimum number of actions required to transition between states, as a fundamental metric that captures the underlying structure of an environment. MAD naturally enables critical downstream tasks such as goal-conditioned reinforcement learning and reward shaping by providing a dense, geometrically meaningful measure of progress. Our self-supervised learning approach constructs an embedding space where the distances between embedded state pairs correspond to their MAD, accommodating both symmetric and asymmetric approximations. We evaluate the framework on a comprehensive suite of environments with known MAD values, encompassing both deterministic and stochastic dynamics, as well as discrete and continuous state spaces, and environments with noisy observations. Empirical results demonstrate that the proposed approach not only efficiently learns accurate MAD representations across these diverse settings but also significantly outperforms existing state representation methods in terms of representation quality.

Learning the optimal policy for Markov decision process problems (MDPs) from samples is a fundamental problem in online and data-driven decision-making. Function approximations are usually deployed to handle large or infinite state-action space. In our work, we consider the MDP problems with function approximation and we develop a new algorithm to solve it efficiently. Our algorithm is based on a linear programming (LP) reformulation and repeatedly resolves the identified reduced linear system as new transition samples arrive. After the optimal basis is identified, we show that, after $N$ resolving rounds, the expected averaged iterate achieves an instance-dependent $\widetilde O(C_{\mathrm{inst}}/N)$ objective shortfall and signed constraint residual. We separately account for the historical samples used for basis identification and the $d_2$ transition queries used in each resolving round, which yields the corresponding total transition-query complexity. We further complement our result with a robust $O(1/\sqrt{N})$ bound that is independent of $Δ$. In comparison to the guarantees established in the previous literature, our instance dependent guarantee is tighter when the underlying instance is favorable, and the numerical experiments also reveal the wide applications and efficient empirical performances of our algorithms.

We introduce the Switching Non-Stationary Markov Decision Process (SNS-MDP) framework, in which the environment transitions among a finite set of MDPs governed by a latent Markov chain while the agent observes only the external state. We show that the long-term effect of this switching is equivalent to stationary dynamics parameterized by the stationary distribution of the hidden Markov chain. For fixed policies, we derive a closed-form expression for the SNS value function and prove that standard temporal-difference (TD) learning converges to it almost surely despite persistent non-stationarity. We further establish that policy iteration converges to the optimal policy of the equivalent averaged environment, and prove that tabular Q-learning converges almost surely to the optimal Q-function. The framework is validated on a wireless communication network with Markovian channel noise, demonstrating its practical efficacy for decision-making in rapidly time-varying systems.

We study a structured class of Markov Decision Processes, known as Exo-MDPs, in which the state space is partitioned into exogenous and endogenous components. Exogenous states evolve stochastically, independent of the agent's actions, while endogenous states evolve deterministically based on both state components and actions. Exo-MDPs capture many operations research settings, including inventory control, resource management, and ride-sharing. Our first contribution is structural: we establish a representational equivalence between discrete MDPs, Exo-MDPs, and discrete linear mixture MDPs. Our second contribution is statistical. We characterize the minimax regret of learning in Exo-MDPs when the effective dimension r is small relative to the endogenous state and action spaces. When the exogenous states are unobserved, we prove matching upper and lower regret bounds of order $Θ(Hr \sqrt{K})$ over $K$ episodes of horizon $H$, where $r$ is the effective dimension of the Exo-MDP. When exogenous states are observed, the minimax regret improves to $Θ(H\sqrt{ r K})$, revealing a $Θ(\sqrt{r})$ statistical gap due to observation of the exogenous states. These results show that Exo-MDPs decouple sample complexity from action space and endogenous state space. We validate these insights with experiments on inventory control and resource allocation.

This paper develops a framework for learning in discounted infinite-horizon Markov decision processes (MDPs) with Borel state and action spaces, whose rewards and transitions depend on an unknown parameter.To analyze sampling-based adaptive learning algorithms in this setting, we introduce a canonical probability space that explicitly incorporates sampled parameters into the history of the process. As a performance criterion, we adopt the per-period suboptimality gap used in discounted-MDP regret analysis and specialize it to our parametrized Bayesian setting. Since this quantity captures the remaining loss in future performance from the current period onward, we refer to it as residual regret. We use the expected residual regret to connect discounted-MDP regret analysis with asymptotic discount optimality from adaptive control and the temporal-difference error perspective from reinforcement learning. We then focus on Thompson sampling (TS) in discounted infinite-horizon MDPs. Under assumptions that extend those used in prior work on finite state and action spaces to the Borel setting, we show that the expected residual regret for TS converges to zero exponentially fast. We further show that, under mild conditions ensuring the existence of the relevant limits, the ample-path residual regret converges to zero almost surely and TS achieves complete learning.

Regularization is a cornerstone of modern reinforcement learning. Regularized policy iteration (RPI) provides a fundamental scheme for solving regularized Markov decision processes (RMDPs), and the widely used soft actor-critic algorithm arises as a special case when the regularizer is Shannon entropy. Despite its empirical success, the theoretical underpinnings of RPI remain unclear. In this paper, we address this gap by proving that RPI is formally equivalent to the standard Newton-Raphson method applied to the Bellman equation smoothed by strongly convex regularizers. This equivalence enables a unified convergence analysis of existing methods and supports the development of accelerated algorithms. We show that RPI enjoys local quadratic convergence; notably, for Shannon entropy, the guarantee is dimension-free. We further study RPI with inexact policy evaluation, establishing its equivalence to an inexact Newton method in which each Newton step is solved via truncated iterations, and derive an asymptotic linear convergence rate of $γ^{M}$, where $M$ denotes the number of operator steps used in policy evaluation. Finally, motivated by higher-order Newton schemes, we propose a new algorithm for RMDPs that achieves third-order local convergence. Numerical experiments corroborate our theory and demonstrate the practical advantages of the proposed algorithm. Overall, our results advance the theoretical understanding of regularization in reinforcement learning and suggest new directions for efficient algorithm design.