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=== Motivation ===
Recall that the objective of Reinforcement Learning is to find an optimal policy <math>\pi^*<\/math> which we encode in a neural network with parameters <math>\theta^*</math>. These optimal parameters are defined as
<math>\theta^* = \text<argmax>_\theta E_{\tau \sim p_\theta(\tau)} \left[ \sum_t r(s_t, a_t) \right] </math>
