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@jemoka / Jemoka Knowledge Base / wiki/concepts/ltrdp.md
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--- title: "LRTDP" type: concept source: https://www.jemoka.com/posts/kbhltrdp/ confidence: high status: active --- Real-Time Dynamic Programming RTDP is a asynchronous value iteration scheme. Each RTDP trial is a result of: \begin{equation} V(s) = \min_{ia \in A(s)} c(a,s) + \sum_{s’ \in S}^{} P_{a}(s’|s)V(s) \end{equation} the algorithm halts when the residuals are sufficiently small. Labeled RTDP We want to label converged states so we don’t need to keep investigate it: a state is solved if: state has less then \(\epsilon\) all reachable states given \(s’\) from this state has residual lower than \(\epsilon\) Labelled RTDP We stochastically simulate one step forward, and until a state we haven’t marked as “solved” is met, then we simulate forward and value iterate