th notranslate nohighlight">\(Q(s, a)\)</span></p></td>
<td><p><span class="math notranslate nohighlight">\(\pi(s) = \text{argmax}_a Q(s, a)\)</span></p></td>
</tr>
<tr class="row-odd"><td><p>(direct) policy gradients</p></td>
<td><p>evaluate returns <span class="math notranslate nohighlight">\(R_\tau = \sum_t r(s_t, a_t)\)</span></p></td>
<td><p><span class="math notranslate nohighlight">\(\theta = \theta + \alpha \nabla_\theta E[\sum_t r(s_t, a_t)]\)</span></p></td>
</tr>
<tr class="row-even"><td><p>actor