Before revision:  We demonstrate its advantages over several strong baselines across 5 different categories of 14 continuous control tasks , in terms of both sample efficiency and final performance. Because of its simplicity and generality, TASAC can serve as a drop-in replacement for SAC when temporal abstraction is needed.
After revision:  We demonstrate its advantages over several strong baselines across 5 different categories of 14 continuous control tasks . Code is available at URL