Research on HAMs-family Based Homomorphisms
A main problem that exists in HAMs-family HRL is its joint state space consisting of the cross-product of the machine states in the HAM and the states in the original MDP,which is not completely solved by a subroutine-based state abstraction method.This paper analyzes this problem in detail and provides formal descriptions on HAMs model by using "policy-coupled" semi-Markov decision processes.It also provides formal definitions on HAMs-based homomorphisms,proves some useful theorems,and shows that the HAMs-based homomorphisms can conquer this problem.This paper concludes some important opinions on applying homomorphisms to state abstractions.Lastly,a typical example is analyzed and evaluated.