Multi Timescale Stochastic Approximation: Stability and Convergence
This paper presents the first sufficient conditions that guarantee the stability and almost sure convergence of multi-timescale stochastic approximation (SA) iterates. It extends the existing results on one-timescale and two-timescale SA iterates to general $N$-timescale stochastic recursions, for any $N \geq 1$, using the ordinary differential equation (ODE) method. As an application, we study SA algorithms augmented with heavy-ball momentum in the context of Gradient Temporal Difference (GTD) learning. The added momentum introduces an auxiliary state evolving on an intermediate timescale, yielding a three-timescale recursion. We show that with appropriate momentum parameters, the scheme fits within our framework and converges almost surely to the same fixed point as baseline GTD. The stability and convergence of all iterates including the momentum state follow from our main results without ad hoc bounds. We then study off-policy actor-critic algorithms with a baseline learner, actor, and critic updated on separate timescales. In contrast to prior work, we eliminate projection steps from the actor update and instead use our framework to guarantee stability and almost sure converge