Systems, methods, and apparatus, including computer programs encoded on a computer storage medium, for selecting an actions from a set of actions to be performed by an agent interacting with an environment. In one aspect, the system includes a dueling deep neural network. The dueling deep neural network includes a value subnetwork, an advantage subnetwork, and a combining layer. The value subnetwork processes a representation of an observation to generate a value estimate. The advantage subnetwork processes the representation of the observation to generate an advantage estimate for each action in the set of actions. The combining layer combines the value estimate and the respective advantage estimate for each action to generate a respective Q value for the action. The system selects an action to be performed by the agent in response to the observation using the respective Q values for the actions in the set of actions.