Does the temporal difference learning of optimal utility values (U) require knowledge of the transition probability tables

No

Explanation:

Temporal difference or some times written as TD learning process may be defined as an approach to learning that describes how to predict a given  quantity which depends on the future values for a given signal.

TD or temporal difference learning does not require the knowledge of transition probability tables. It only requires the knowledge of state and action plan. It also does not require the knowledge of reward function.

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