</span> - what action to do in state s</p>
<ul>
<li><p>optimal policy yields highest expected utlity</p></li>
</ul>
</li>
<li><p>optimizing MDP - <em>multiattribute utility theory</em></p>
<ul>
<li><p>could sum rewards, but results are infinite</p></li>
<li><p>instead define objective function (maps infinite sequences of rewards to single real numbers)</p>
<ul>
<li><p>ex. discounting to prefer earlier rewards (most common)</p>
<ul>
<li><p>discount reward n steps away by <span class="math notranslate nohighl