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WarpSAC: Towards the Pinnacle of Scalable Off-policy RL by Rethinking Exploration and Exploitation

arXiv · AI, language, vision and robotics · article · Aug 25, 2026 · UTC

Massively parallel simulation changes the data regime in which off-policy reinforcement learning (RL) is trained, challenging stabilizers designed for data-limited replay. Through controlled experiments across eight benchmark families, we show that these stabilizers are data-regime-dependent: parameter normalization helps with narrow replay coverage but restricts value fitting when data are abundant, while clipped double-Q can be relaxed in high-throughput manipulation. Age-biased replay weighting improves learning efficiency across regimes, especially with limited network capacity. Based on t

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