cs.AIApr 6, 2026

On the "Causality" Step in Policy Gradient Derivations: A Pedagogical Reconciliation of Full Return and Reward-to-Go

Authors: Nima H. Siboni

Organizations: Juna.ai, Kastanienallee 32, 10435 Berlin

Abstract

In introductory presentations of policy gradients, one often derives the REINFORCE estimator using the full trajectory return and then states, by ``causality,'' that the full return may be replaced by the reward-to-go. Although this statement is correct, it is frequently presented at a level of rigor that leaves unclear where the past-reward terms disappear. This short paper isolates that step and gives a mathematically explicit derivation based on prefix trajectory distributions and the score-function identity. The resulting account does not change the estimator. Its contribution is conceptual: instead of presenting reward-to-go as a post hoc unbiased replacement for full return, it shows that reward-to-go arises directly once the objective is decomposed over prefix trajectories. In this formulation, the usual causality argument is recovered as a corollary of the derivation rather than as an additional heuristic principle.

Explore similar work

CardsList
  1. Is the Policy Gradient a Gradient?

    Jun 17, 2019Chris Nota, Philip S. ThomasPolicy GradientPolicy Gradient Methods

  2. A First-Principles Derivation of LLM Policy Optimization: From Expected Reward to GRPO and Its Structural Extensions

    Jun 15, 2026Jianghan Shen, Siqi Luo, Yue Li +9RL for Language ModelsGroup Relative Policy Optimization

  3. On Reparameterizing the Score Function

    Oct 16, 2026Mohammad Hossein Amani, Leonardo Bocchieri, Maxime Peyrard +2Policy GradientPolicy Gradient Methods