1.2 Examples

A good way to understand reinforcement learning is to consider some of the examples and possible applications that have guided its development:

• A master chess player makes a move. The choice is informed both by planning---anticipating possible replies and counter-replies---and by immediate, intuitive judgments of the desirability of particular positions and moves.

• An adaptive controller adjusts parameters of a petroleum refinery's operation in real time. The controller optimizes the yield/cost/quality tradeoff based on specified marginal costs without sticking strictly to the set points originally suggested by human engineers.

• A gazelle calf struggles to its feet minutes after being born. Half an hour later it is running at 30 miles per hour.

• A mobile robot decides whether it should enter a new room in search of more trash to collect or start trying to find its way back to its battery recharging station. It makes its decision based on how quickly and easily it has been able to find the recharger in the past.

• Phil prepares his breakfast. When closely examined, even this apparently mundane activity reveals itself as a complex web of conditional behavior and interlocking goal-subgoal relationships: walking to the cupboard, opening it, selecting a cereal box, then reaching for, grasping, and retrieving the box. Other complex, tuned, interactive sequences of behavior are required to obtain a bowl, spoon, and milk jug. Each step involves a series of eye movements to obtain information and to guide reaching and locomotion. Rapid judgments are continually made about how to carry the objects or whether it is better to ferry some of them to the dining table before obtaining others. Each step is guided by goals, such as grasping a spoon, or getting to the refrigerator, and is in service of other goals, such as having the spoon to eat with once the cereal is prepared and of ultimately obtaining nourishment.

These examples share features that are so basic that they are easy to overlook. All involve interaction between an active decision-making agent and its environment, within which the agent seeks to achieve a goal despite uncertainty about its the environment. The agent's actions are permitted to affect the future state of the environment (e.g., the next chess position, the level of reservoirs of the refinery, the next location of the robot), thereby affecting the options and opportunities available to the agent at later times. Correct choice requires taking into account indirect, delayed consequences of actions, and thus may require foresight or planning.

At the same time, in all these examples the effects of actions cannot be fully predicted, and so the agent must frequently monitor its environment and react appropriately. For example, Phil must watch the milk he pours into his cereal bowl to keep it from overflowing. All these examples involve goals that are explicit in the sense that the agent can judge progress toward its goal on the basis of what it can directly sense. The chess player knows whether or not he wins, the refinery controller knows how much petroleum is being produced, the mobile robot knows when its batteries run down, and Phil knows whether or not he is enjoying his breakfast.

In all of these examples the agent can use its experience to improve its performance over time. The chess player refines the intuition he uses to evaluate positions, thereby improving his play; the gazelle calf improves the efficiency with which it can run; Phil learns to streamline his breakfast making. The knowledge the agent brings to the task at the start---either from previous experience with related tasks or built into it by design or evolution---influences what is useful or easy to learn, but interaction with the environment is essential for adjusting behavior to exploit specific features of the task.