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Two popular approaches to model-free continuous control tasks are SAC andTD3. At first glance these approaches seem rather different; SAC aims to solvethe entropy-augmented MDP by minimising the KL-divergence between a stochasticproposal policy and a hypotheical energy-basd soft Q-function policy, whereasTD3 is derived from DPG, which uses a deterministic policy to perform policygradient ascent along the value function. In reality, both approaches areremarkably similar, and belong to a family of approaches we call `Off-PolicyContinuous Generalized Policy Iteration'. This illuminates their similarperformance in most continuous control benchmarks, and indeed whenhyperparameters are matched, their performance can be statisticallyindistinguishable. To further remove any difference due to implementation, weprovide OffCon$^3$ (Off-Policy Continuous Control: Consolidated), a code basefeaturing state-of-the-art versions of both algorithms.

OffCon$^3$: What is state of the art anyway?