How can I align equations inside tabular? I want to place few lines of equation by side of the picture. But it turns out that I cannot use \& in order to shift equals signs to be one under another.
\documentclass{article} % Specifies the document class
\usepackage{amsmath, amsfonts, mathtools, xfrac, empheq}
\usepackage{caption}
\begin{document} % End of preamble and beginning of text.
\begin{tabular}{l r}
\begin{minipage}{0.6\textwidth}
\begin{align}
V^\pi = E_\pi \{ R_t \mid s_t = s \} \\
= E_\pi \left \{ \sum\limits_{k=0}^\infty \gamma^k r_{t+k+1} \mid s_t = s \right \} \notag \\
= E_\pi \left \{ r_{t+1} + \gamma \sum_{k=0}^\infty \gamma^k r_{t+k+2} \mid s_t =s \right\} \notag
\end{align}
\end{minipage}
&
\begin{minipage}{0.4\textwidth}
%\includegraphics[width=\textwidth]{olcar_L11-8}
\captionof{figure}{Backup diagram}
\end{minipage}
\end{tabular}
\end{document}
I would like it to like this:



{}around the minipage but simpler just remove the outer tabular which isn't doing anything very useful, just put the two minpages on a line separated by (say)\hfill(edit as written your line is overfull as your minipages add up to \linewidth but you have a paragraph indentation on the left and 4\tabcolsep from the padding added by the outer tabular. – David Carlisle Dec 04 '13 at 14:52