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1: Input: policy π to be evaluated, number of samples N, regularization parameter 入 > 0
2:Let QH+1(·,·)=O andVH+1(-)= 0
forh=H,H-1,...,1do
4:Take samples (s,a)~ μh,rh ~ r(s,a) and sh ~P(s,a) for eachi∈ [N]
5:LetAh=∑i∈[N](sn,an）(s,a）T+λI
6: 7:LetOn=An1（∑N（s,）·(nh+V+1(3)）
Let Qn(-,) = (.,·)TOn and Vh(.)=Q(·,π())
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