Before revision:  This SVG variation captures the model-free soft actor-critic method as an instance when the model rollout horizon is zero, and otherwise uses short-horizon model rollouts to improve the value estimate for the policy update. We surpass the asymptotic performance of other model-based methods on the proprioceptive MuJoCo locomotion tasks from the OpenAI gym, including a humanoid.
After revision:  This SVG variation captures the model-free soft actor-critic method as an instance when the model rollout horizon is zero, and otherwise uses short-horizon model rollouts to improve the value estimate for policy evaluation and a model-based methods on the proprioceptive MuJoCo locomotion tasks from the OpenAI gym, including a humanoid.