To my RL friends:
Easily the most common question I get regarding my four classes of policies is: how to choose? This is one where my answer has slowly matured with my experience.
I just made a significant update to chapter 11:
The big change is a major revision of section 11.10 - Choosing the policy class.
I think this is a big step ahead of my previous attempts, and the first time it is starting to sound as if there is any formal reasoning behind it.
I would love comments on just this section. You can post your thoughts at