diff --git a/.github/workflows/cd.yml b/.github/workflows/cd.yml
new file mode 100644
index 0000000..b0b914b
--- /dev/null
+++ b/.github/workflows/cd.yml
@@ -0,0 +1,27 @@
+name: Continuous Deployment
+
+on: 
+  push: 
+    branches: [ main ]
+
+jobs:
+  deploy-docs:
+    runs-on: ubuntu-latest
+    concurrency: deploy-${{ github.ref }}
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v4
+        with:
+          version: "0.5.10"
+
+      - name: Set up env
+        run: uv sync --all-extras --frozen
+
+      - name: Copy notebooks to docs folder
+        run: cp -r notebooks/* docs/notebooks
+
+      - run: |
+          uv run ipython kernel install --user --name=behavior_generation_lecture
+          uv run mkdocs gh-deploy --force
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index d4f40b5..a006528 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -1,4 +1,5 @@
-name: Continuous Integration and Deployment
+name: Continuous Integration
+
 on: 
   push: 
     branches: [ main ]
@@ -7,8 +8,11 @@ on:
     - cron:  "0 3 * * 1" # Run every Monday 3 am
 
 jobs:
-  test:
+  ci:
     runs-on: ubuntu-latest
+    permissions:
+      pull-requests: write
+      contents: write
     steps:
       - uses: actions/checkout@v4
 
@@ -21,7 +25,7 @@ jobs:
         run: sudo apt install python3-tk -y
 
       - name: Set up env
-        run: uv sync --all-extras
+        run: uv sync --all-extras --frozen
 
       - name: Run ruff format
         run: uv run ruff format
@@ -47,32 +51,31 @@ jobs:
       - name: Copy notebooks to docs folder
         run: cp -r notebooks/* docs/notebooks
 
-      - name: Build docs
+      - name: Build PR docs (including running the notebooks)
         run: |
+          sed -i "s/^site_name:.*$/site_name: 'Behavior Generation Lecture - tmp docs for PR ${{ github.event.pull_request.number }}'/" mkdocs.yml
           uv run ipython kernel install --user --name=behavior_generation_lecture
-          uv run mkdocs build
+          uv run mkdocs build --site-dir site/pr-${{ github.event.pull_request.number }}
 
-  deploy-pages:
-    runs-on: ubuntu-latest
-    needs: [test]
-    if: github.ref == 'refs/heads/main'
-    concurrency: deploy-${{ github.ref }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Install uv
-        uses: astral-sh/setup-uv@v4
+      - name: Deploy PR docs
+        if: github.event_name == 'pull_request'
+        uses: peaceiris/actions-gh-pages@v4
         with:
-          version: "0.5.10"
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: site/pr-${{ github.event.pull_request.number }}
+          destination_dir: pr-${{ github.event.pull_request.number }} # Deploy to subdirectory
+          publish_branch: gh-pages
+          keep_files: true # Retain other content on gh-pages
+
+      - name: Add PR note
+        if: github.event_name == 'pull_request'
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          message: |
+            ### :books: Docs
 
-      - name: Set up env
-        run: uv sync --all-extras
+            Created [temporary docs](https://${{ github.repository_owner }}.github.io/${{ github.event.repository.name }}/pr-${{ github.event.pull_request.number }}/).
+          
 
-      - name: Copy notebooks to docs folder
-        run: cp -r notebooks/* docs/notebooks
-
-      - run: |
-          uv run ipython kernel install --user --name=behavior_generation_lecture
-          uv run mkdocs gh-deploy --force
 
 
diff --git a/mkdocs.yml b/mkdocs.yml
index 7a77ab3..f3a73c8 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -45,6 +45,7 @@ nav:
       - Decision Making: 
           - Value Iteration: notebooks/mdp_value_iteration.ipynb
           - Q-Learning: notebooks/mdp_q_learning.ipynb
+          - Policy Gradient: notebooks/mdp_policy_gradient.ipynb
   - API Documentation (partial): reference/
 
 plugins:
diff --git a/notebooks/a_star_notebook.ipynb b/notebooks/a_star_notebook.ipynb
index ec95db9..101f7db 100644
--- a/notebooks/a_star_notebook.ipynb
+++ b/notebooks/a_star_notebook.ipynb
@@ -59,9 +59,9 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3 (ipykernel)",
+   "display_name": "behavior_generation_lecture",
    "language": "python",
-   "name": "python3"
+   "name": "behavior_generation_lecture"
   },
   "language_info": {
    "codemirror_mode": {
diff --git a/notebooks/lateral_control_state_based_notebook.ipynb b/notebooks/lateral_control_state_based_notebook.ipynb
index a939f95..d760899 100644
--- a/notebooks/lateral_control_state_based_notebook.ipynb
+++ b/notebooks/lateral_control_state_based_notebook.ipynb
@@ -83,9 +83,9 @@
    "hash": "ea80bdc8d9eecdfb0ad4850befec70bcf98ec6f56b32ef8090165e65e0e9c093"
   },
   "kernelspec": {
-   "display_name": "Python 3 (ipykernel)",
+   "display_name": "behavior_generation_lecture",
    "language": "python",
-   "name": "python3"
+   "name": "behavior_generation_lecture"
   },
   "language_info": {
    "codemirror_mode": {
diff --git a/notebooks/mdp_policy_gradient.ipynb b/notebooks/mdp_policy_gradient.ipynb
index 004fe14..22dce58 100644
--- a/notebooks/mdp_policy_gradient.ipynb
+++ b/notebooks/mdp_policy_gradient.ipynb
@@ -211,9 +211,9 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3 (ipykernel)",
+   "display_name": "behavior_generation_lecture",
    "language": "python",
-   "name": "python3"
+   "name": "behavior_generation_lecture"
   },
   "language_info": {
    "codemirror_mode": {
diff --git a/notebooks/mdp_q_learning.ipynb b/notebooks/mdp_q_learning.ipynb
index cbcc6d9..3d3b08d 100644
--- a/notebooks/mdp_q_learning.ipynb
+++ b/notebooks/mdp_q_learning.ipynb
@@ -191,9 +191,9 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3 (ipykernel)",
+   "display_name": "behavior_generation_lecture",
    "language": "python",
-   "name": "python3"
+   "name": "behavior_generation_lecture"
   },
   "language_info": {
    "codemirror_mode": {
diff --git a/notebooks/mdp_value_iteration.ipynb b/notebooks/mdp_value_iteration.ipynb
index 4e0e37f..6d18864 100644
--- a/notebooks/mdp_value_iteration.ipynb
+++ b/notebooks/mdp_value_iteration.ipynb
@@ -191,9 +191,9 @@
  ],
  "metadata": {
   "kernelspec": {
-   "display_name": "Python 3 (ipykernel)",
+   "display_name": "behavior_generation_lecture",
    "language": "python",
-   "name": "python3"
+   "name": "behavior_generation_lecture"
   },
   "language_info": {
    "codemirror_mode": {