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markov_td.m
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markov_td.m
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function markov_td()
[T g]=setup();
gamma=.95;
Jtrue=;%give true value function
vi_plot(Jtrue)
N=100000;
Jtd=zeros(100,1);
state=ceil(100*rand());
lambda=0;
alpha=.1;
e=zeros(100,1);
for i=1:N
if i<2e4
lambda=.4;
alpha=.03;
elseif i<6e4
lambda=.9;
alpha=.02;
end
possibleStates=find(T(state,:)~=0);
transProbs=T(state,possibleStates);
transProbs=cumsum(transProbs);
tmp=rand();
tmp=tmp<transProbs;
tmp=find(tmp);
tmp=tmp(1);
nstate=possibleStates(tmp);
r=g(nstate);
delta=;%determine delta
e(state)=;%update eligability
Jtd=;%perform update to value function
e=;%decay eligability
%insert code here that examines how the error
%in value function depends on iteration number
state=nstate;
if mod(i,40)==0 %reset after 40 updates
state=ceil(100*rand());
e=zeros(100,1);
end
end
vi_plot(Jtd)
end
function vi_plot(J)
q_bins = linspace(-pi,pi,10);
qdot_bins = linspace(-15,15,10);
figure; n1 = size(q_bins,2); n2 = size(qdot_bins,2);
imagesc(q_bins,qdot_bins,reshape(J,n1,n2)'); axis xy;
drawnow;
end
function [T g]=setup()
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