The current state of the art is Opus, but HE-AAC is also superior, and then there’s always the appeal of lossless which is a lot more practical than it once was.
HE-AAC is only useful at low bitrates though (below 64 kb/s), and supposedly never reaches transparency. Above that, you should use AAC-LC (or, of course, Opus if you can).
Vorbis is also notable as a better format than MP3, although that too is made obsolete by Opus.
Vorbis is also notable as a better format than MP3, although that too is made obsolete by Opus.