RESUMO
Classical approximate dynamic programming techniques based on state-space gridding become computationally impracticable for high-dimensional problems. Policy search techniques cope with this curse of dimensionality issue by searching for the optimal control policy in a restricted parameterized policy space. We here focus on the case of discrete action space and introduce a novel policy parametrization that adopts particles to describe the map from the state space to the action space, each particle representing a region of the state space that is mapped into a certain action. The locations and actions associated with the particles describing a policy can be tuned by means of a recently introduced policy gradient method with parameter-based exploration. The task of selecting an appropriately sized set of particles is here solved through an iterative policy building scheme that adds new particles to improve the policy performance and is also capable of removing redundant particles. Experiments demonstrate the scalability of the proposed approach as the dimensionality of the state-space grows.