Federated Q-learning in heterogeneous environments achieves linear speedup in K agents for sampling error but is limited to Θ(E/T) convergence when averaging every E steps, with a two-phase error decay-then-rise behavior in experiments.
Sample complexity of asynchronous q-learning: Sharper analysis and variance reduction
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On the Convergence Rates of Federated Q-Learning across Heterogeneous Environments
Federated Q-learning in heterogeneous environments achieves linear speedup in K agents for sampling error but is limited to Θ(E/T) convergence when averaging every E steps, with a two-phase error decay-then-rise behavior in experiments.