Nonstationary Reinforcement Learning: The Blessing of (More) Optimism II: Per-Step Dynamic Regret of SWUCRL2-CW When the Widened Confidence Region Contains an MDP of Diameter at Most DResearch Paper
Why changing environments matter
A reinforcement-learning agent chooses actions while learning how those actions affect future states. In a stationary model, observations collected long ago remain relevant to the current transition law. In a nonstationary Markov decision process, rewards and transition probabilities may change at each round. Old observations can then bias an estimate even when the agent has collected many samples. The challenge is to keep learning from recent observations without becoming blind to actions that the agent has not tried recently. Cheung, Simchi-Levi and Zhu study this tension for finite-state average-reward learning and introduce confidence widening in their SWUCRL2-CW algorithm Cheung et al., §4.
The paper's broad regret theorems suppress constants inside asymptotic notation. Proposition 2 gives an explicit one-round inequality that exposes the roles of estimation error, temporal variation, confidence widening, and the diameter of a plausible transition model. This mission targets that proposition and the stated auxiliary results used around it Cheung et al., pp. 14, 38–41.
The finite changing MDP
Let be a finite state set. Each state has a nonempty finite set of permitted actions. At round , taking action in state gives expected reward and moves to state with probability . The one-step variation is the greatest change over permitted pairs; is the corresponding greatest distance between transition rows. These definitions make no stationarity assumption Cheung et al., pp. 6, 33.
At the start of an episode, the algorithm counts visits to each pair in a recent window of length . It divides empirical sums by , where is the visit count. Thus an unvisited pair has estimated reward and transition vector equal to zero. Reward confidence sets lie in ; transition confidence sets lie in the probability simplex and use an radius enlarged by a nonnegative parameter . Write and for their respective radii. The algorithm chooses a stationary policy and an optimistic model, gain , and bias from extended value iteration Cheung et al., pp. 11–13.
The diameter of a transition model is the largest, over ordered source and target states, of the smallest expected number of transitions needed to reach the target under a stationary policy. Source equal to target means a return time after at least one transition. The round- optimal gain is the value of the stationary occupancy-measure linear program for with only permitted actions. From the window's first round through the round before , let and be the sums of the corresponding one-step variations Cheung et al., pp. 8, 14, 33.
Formalization targets
The main target is Proposition 2. Condition on the local reward and transition estimation events at . Assume that the widened transition confidence sets contain every permitted row of an MDP of diameter at most . For a round in which , the target is
The five milestones are the paper's Lemmas 2–5 and displayed inequality (32): a dual-bias span bound, a drift estimate for window averages, bounded optimistic bias, optimism under drift, and a transition-value error bound. Their exact constants are part of the targets Cheung et al., pp. 33, 38–39.
What the result supplies
Proposition 2 separates the per-round change in optimal gain from the cost of the current action. Its first term tracks changes in the optimistic bias along transitions; the other terms identify window drift, reward and transition estimation, and widening. This decomposition can be summed across episodes when analyzing the algorithm. The result has a concrete role even though the later horizon-wide theorem is given in asymptotic notation Cheung et al., pp. 14, 41.
The paper proves these claims mathematically. The mission asks for machine-checked proofs of the explicit statements and for reusable definitions of finite nonstationary MDP variation, window estimators, confidence sets, occupancy gain, and hitting-time diameter. The source's Theorems 1–4 are not posed here: their displayed bounds hide constants in and, in one case, use an unspecified failure probability Cheung et al., pp. 14–25. This proposal supplies statements for solvers; it does not claim that these new statements already have machine-checked proofs.
Where the difficulty lies
The current model need not resemble the model that generated every observation in the window. A direct stationary confidence argument cannot control the resulting temporal error. The challenge is especially visible at a pair with no recent visits: its comparison transition vector is zero, although a genuine transition row has total mass one. The paper's Lemma 3, read literally for every pair, fails in that case. The mission states its positive-count condition explicitly while keeping the proposition and the later optimism and transition milestones valid at unvisited pairs Cheung et al., pp. 12, 38–40.
There is a separate issue with the printed dual-bias lemma. Feasibility alone permits an arbitrarily large dual gain and does not force the asserted span bound. The mission adds to Lemma 2 and records the change for audit. The EVI output is represented by its selected-model membership, bias normalization, optimism, and near-optimality properties; this is the contract stated for the algorithm's output, rather than a formal execution of extended value iteration Cheung et al., pp. 13, 33, 35–36.
Formalization scope
States and ambient actions are Fin S and Fin A; permitted actions are state-dependent finite subsets. The setup has , , , and a nonempty action set at each state. Time is zero-based in Lean, while the paper's rounds are one-based; in particular its is represented by . Counts and confidence sets are evaluated at the episode start. Variations continue up to the target round. The estimation events are assumed at the episode start, which is the only time used by these statements.
Hitting times and diameter take values in extended nonnegative reals, so an unreachable target does not acquire a false finite diameter. The diameter includes return times and minimizes over deterministic stationary policies. The confidence-radius product counts actual permitted pairs. At an unvisited pair, the comparison averages remain zero and ; the large confidence radii under the stated bounds are essential. The local transition event uses the error condition: literal membership of the zero comparison vector in a simplex would make the paper's event fail. The printed coordinatewise maxima in Property 1 imply the standard joint-distribution optimism condition used here. The free printed in the last radius of Proposition 2 means , as the proof's context confirms Cheung et al., pp. 12, 14, 36, 40–41.
Two milestones carry a pinned hypothesis because the printed statement is false without it: Lemma 2 assumes the dual gain satisfies (an arbitrary feasible can make the bias span exceed ), and Lemma 3 assumes the pair was visited in the episode-start window (at an unvisited pair the comparison averages are zero). Proposition 2 is stated for every round before the horizon at which the action is the episode policy's choice, which covers the rounds of episode ; the coefficient of is kept as printed.
The witness MDP has genuine probability rows in the widened sets and a diameter bound. The EVI tuple obeys both stated properties, and the chosen action obeys its policy. These conditions prevent an unconstrained bias, a spurious zero diameter, a confidence event at the wrong time, or a reward bound for an unrelated action. The published FiniteMDPLearning model supplies probability rows and rewards in ; its different travel-time convention is not substituted for the paper's diameter. Contributions to the MDP linear program, finite-state hitting times, window-average inequalities, and confidence-region geometry are all useful beyond this mission.
Selected references
- W. C. Cheung, D. Simchi-Levi and R. Zhu, Non-Stationary Reinforcement Learning: The Blessing of (More) Optimism, arXiv:1906.02922v4, 2020; published as Nonstationary Reinforcement Learning: The Blessing of (More) Optimism, Management Science, 2023. Preprint; journal DOI.
- T. Jaksch, R. Ortner and P. Auer, Near-optimal regret bounds for reinforcement learning, Journal of Machine Learning Research 11, 2010. Article.