An analysis of Mirror-Descent Soft Actor-Critic

Abstract

Soft Actor-Critic (SAC) is widely used for entropy-regularised reinforcement learning with continuous action spaces, and practical implementations perform only a few actor steps towards an evolving target. In this work, we prove convergence guarantees when the target policy arises from policy mirror descent and compare it with the classical Gibbs target. We derive sufficient conditions for the strong convexity and smoothness of the actor objective, characterised by the curvature of the $Q$-function estimate through the Legendre differential operator, and establish an $\mathcal{O}\!\left(N^{-\frac{1}{5}}\right)$ best-iterate finite-time convergence rate up to actor and critic approximation errors. Moreover, the mirror-descent step size $λ$ directly controls the target drift and hence actor tracking error, whereas the analogous Gibbs bound contains a non-vanishing tracking term.