Yes, that's what the standard requires it to be for empty()
for any container.
§ 23.2.1 Table 96 of the C++11 standard says:
+----------+---------------+----------------------+
|Expression| Return Type | Operational Semantics|
|----------|---------------|----------------------|
|a.empty() |Convertible |a.begin() == a.end() |
| |to bool | |
| | | |
+-------------------------------------------------+
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