A Simple Finite-Time Analysis of TD Learning with Linear Function Approximation

We study the finite-time convergence of TD learning with linear function approximation under Markovian sampling. Existing proofs for this setting either assume a projection step in the algorithm to simplify the analysis, or require a fairly intricate argument to ensure stability of the iterates. We ask: Is it possible to retain the simplicity of a projection-based analysis without actually performing a projection step in the algorithm? Our main contribution is to show this is possible via a novel two-step argument. In the first step, we use induction to prove that under a standard choice of a constant step-size, the iterates generated by TD learning remain uniformly bounded in expectation. In the second step, we establish a recursion that mimics the steady-state dynamics of TD learning up to a bounded perturbation on the order of O (²) that captures the effect of Markovian sampling. Combining these pieces leads to an overall approach that considerably simplifies existing proofs. We conjecture that our inductive proof technique will find applications in the analyses of more complex stochastic approximation algorithms, and conclude by providing some examples of such applications.