SAC 算法数学表达式为: Q ( s t , a t ) = r ( s t , a t ) + γ E s t + 1 [ V ( s t + 1 ) ] Q(s_t,a_t)=r(s_t,a_t)+\gamma\mathbb{E}_{s_{t+1}}[V(s_{t+1})] Q(st,at)=r(st,at)+γEst+1[V(st+1)] 其中, V ( s t ) = E a ∼ π [ Q ( s t , a t ) − α log ( a t ∣ s t ) ] = E a ∼ π [ Q ( s