Is the Policy Gradient a Gradient?

arXiv:1906.07073v3 Announce Type: replace Abstract: The policy gradient theorem describes the gradient of the expected discounted return with respect to an agent's policy parameters. However, many policy gradient methods omit the outer discount factor, yielding an update that need not equal the gradient of the discounted objective. Is the resulting update the gradient of another objective? This has been an open question for several years, and this lack of theoretical clarity has led to an abundance of misstatements in the literature. We answer this question for the resulting episode-summed, on-policy update by proving that it need not equal the gradient of any function. Further, we construct a counterexample in which exact expected updates drive the policy toward a deterministic limit that is globally pessimal with respect to both the discounted and undiscounted objectives, while the parameter diverges. We motivate this work by surveying the literature and showing that there remains a widespread misunderstanding regarding discounted policy gradient methods, with errors present even in highly-cited papers published at top conferences.