torchrl 0.11.0__cp314-cp314-win_amd64.whl

torchrl/objectives/crossq.py

@@ -0,0 +1,710 @@
+# Copyright (c) Meta Platforms, Inc. and affiliates.
+#
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+from __future__ import annotations
+
+import math
+from dataclasses import dataclass
+from functools import wraps
+
+import torch
+from tensordict import TensorDict, TensorDictBase, TensorDictParams
+from tensordict.nn import dispatch, ProbabilisticTensorDictSequential, TensorDictModule
+from tensordict.utils import NestedKey
+from torch import Tensor
+
+from torchrl.data.tensor_specs import Composite
+from torchrl.envs.utils import ExplorationType, set_exploration_type
+from torchrl.objectives.common import LossModule
+from torchrl.objectives.utils import (
+    _cache_values,
+    _reduce,
+    _vmap_func,
+    default_value_kwargs,
+    distance_loss,
+    ValueEstimators,
+)
+from torchrl.objectives.value import (
+    TD0Estimator,
+    TD1Estimator,
+    TDLambdaEstimator,
+    ValueEstimatorBase,
+)
+
+
+def _delezify(func):
+    @wraps(func)
+    def new_func(self, *args, **kwargs):
+        self.target_entropy
+        return func(self, *args, **kwargs)
+
+    return new_func
+
+
+class CrossQLoss(LossModule):
+    """TorchRL implementation of the CrossQ loss.
+
+    Presented in "CROSSQ: BATCH NORMALIZATION IN DEEP REINFORCEMENT LEARNING
+    FOR GREATER SAMPLE EFFICIENCY AND SIMPLICITY" https://openreview.net/pdf?id=PczQtTsTIX
+
+    This class has three loss functions that will be called sequentially by the `forward` method:
+    :meth:`~.qvalue_loss`, :meth:`~.actor_loss` and :meth:`~.alpha_loss`. Alternatively, they can
+    be called by the user that order.
+
+    Args:
+        actor_network (ProbabilisticTensorDictSequential): stochastic actor
+        qvalue_network (TensorDictModule): Q(s, a) parametric model.
+            This module typically outputs a ``"state_action_value"`` entry.
+            If a single instance of `qvalue_network` is provided, it will be duplicated ``num_qvalue_nets``
+            times. If a list of modules is passed, their
+            parameters will be stacked unless they share the same identity (in which case
+            the original parameter will be expanded).
+
+            .. warning:: When a list of parameters if passed, it will **not** be compared against the policy parameters
+              and all the parameters will be considered as untied.
+
+    Keyword Args:
+        num_qvalue_nets (integer, optional): number of Q-Value networks used.
+            Defaults to ``2``.
+        loss_function (str, optional): loss function to be used with
+            the value function loss. Default is `"smooth_l1"`.
+        alpha_init (:obj:`float`, optional): initial entropy multiplier.
+            Default is 1.0.
+        min_alpha (:obj:`float`, optional): min value of alpha.
+            Default is None (no minimum value).
+        max_alpha (:obj:`float`, optional): max value of alpha.
+            Default is None (no maximum value).
+        action_spec (TensorSpec, optional): the action tensor spec. If not provided
+            and the target entropy is ``"auto"``, it will be retrieved from
+            the actor.
+        fixed_alpha (bool, optional): if ``True``, alpha will be fixed to its
+            initial value. Otherwise, alpha will be optimized to
+            match the 'target_entropy' value.
+            Default is ``False``.
+        target_entropy (:obj:`float` or str, optional): Target entropy for the
+            stochastic policy. Default is "auto", where target entropy is
+            computed as :obj:`-prod(n_actions)`.
+        priority_key (str, optional): [Deprecated, use .set_keys(priority_key=priority_key) instead]
+            Tensordict key where to write the
+            priority (for prioritized replay buffer usage). Defaults to ``"td_error"``.
+        separate_losses (bool, optional): if ``True``, shared parameters between
+            policy and critic will only be trained on the policy loss.
+            Defaults to ``False``, i.e., gradients are propagated to shared
+            parameters for both policy and critic losses.
+        reduction (str, optional): Specifies the reduction to apply to the output:
+            ``"none"`` | ``"mean"`` | ``"sum"``. ``"none"``: no reduction will be applied,
+            ``"mean"``: the sum of the output will be divided by the number of
+            elements in the output, ``"sum"``: the output will be summed. Default: ``"mean"``.
+        deactivate_vmap (bool, optional): whether to deactivate vmap calls and replace them with a plain for loop.
+            Defaults to ``False``.
+
+    Examples:
+        >>> import torch
+        >>> from torch import nn
+        >>> from torchrl.data import Bounded
+        >>> from torchrl.modules.distributions import NormalParamExtractor, TanhNormal
+        >>> from torchrl.modules.tensordict_module.actors import ProbabilisticActor, ValueOperator
+        >>> from torchrl.modules.tensordict_module.common import SafeModule
+        >>> from torchrl.objectives.crossq import CrossQLoss
+        >>> from tensordict import TensorDict
+        >>> n_act, n_obs = 4, 3
+        >>> spec = Bounded(-torch.ones(n_act), torch.ones(n_act), (n_act,))
+        >>> net = nn.Sequential(nn.Linear(n_obs, 2 * n_act), NormalParamExtractor())
+        >>> module = SafeModule(net, in_keys=["observation"], out_keys=["loc", "scale"])
+        >>> actor = ProbabilisticActor(
+        ...     module=module,
+        ...     in_keys=["loc", "scale"],
+        ...     spec=spec,
+        ...     distribution_class=TanhNormal)
+        >>> class ValueClass(nn.Module):
+        ...     def __init__(self):
+        ...         super().__init__()
+        ...         self.linear = nn.Linear(n_obs + n_act, 1)
+        ...     def forward(self, obs, act):
+        ...         return self.linear(torch.cat([obs, act], -1))
+        >>> module = ValueClass()
+        >>> qvalue = ValueOperator(
+        ...     module=module,
+        ...     in_keys=['observation', 'action'])
+        >>> loss = CrossQLoss(actor, qvalue)
+        >>> batch = [2, ]
+        >>> action = spec.rand(batch)
+        >>> data = TensorDict({
+        ...         "observation": torch.randn(*batch, n_obs),
+        ...         "action": action,
+        ...         ("next", "done"): torch.zeros(*batch, 1, dtype=torch.bool),
+        ...         ("next", "terminated"): torch.zeros(*batch, 1, dtype=torch.bool),
+        ...         ("next", "reward"): torch.randn(*batch, 1),
+        ...         ("next", "observation"): torch.randn(*batch, n_obs),
+        ...     }, batch)
+        >>> loss(data)
+        TensorDict(
+            fields={
+                alpha: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False),
+                entropy: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False),
+                loss_actor: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False),
+                loss_alpha: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False),
+                loss_qvalue: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False)},
+            batch_size=torch.Size([]),
+            device=None,
+            is_shared=False)
+
+    This class is compatible with non-tensordict based modules too and can be
+    used without recurring to any tensordict-related primitive. In this case,
+    the expected keyword arguments are:
+    ``["action", "next_reward", "next_done", "next_terminated"]`` + in_keys of the actor and qvalue network.
+    The return value is a tuple of tensors in the following order:
+    ``["loss_actor", "loss_qvalue", "loss_alpha", "alpha", "entropy"]``
+
+    Examples:
+        >>> import torch
+        >>> from torch import nn
+        >>> from torchrl.data import Bounded
+        >>> from torchrl.modules.distributions import NormalParamExtractor, TanhNormal
+        >>> from torchrl.modules.tensordict_module.actors import ProbabilisticActor, ValueOperator
+        >>> from torchrl.modules.tensordict_module.common import SafeModule
+        >>> from torchrl.objectives import CrossQLoss
+        >>> _ = torch.manual_seed(42)
+        >>> n_act, n_obs = 4, 3
+        >>> spec = Bounded(-torch.ones(n_act), torch.ones(n_act), (n_act,))
+        >>> net = nn.Sequential(nn.Linear(n_obs, 2 * n_act), NormalParamExtractor())
+        >>> module = SafeModule(net, in_keys=["observation"], out_keys=["loc", "scale"])
+        >>> actor = ProbabilisticActor(
+        ...     module=module,
+        ...     in_keys=["loc", "scale"],
+        ...     spec=spec,
+        ...     distribution_class=TanhNormal)
+        >>> class ValueClass(nn.Module):
+        ...     def __init__(self):
+        ...         super().__init__()
+        ...         self.linear = nn.Linear(n_obs + n_act, 1)
+        ...     def forward(self, obs, act):
+        ...         return self.linear(torch.cat([obs, act], -1))
+        >>> module = ValueClass()
+        >>> qvalue = ValueOperator(
+        ...     module=module,
+        ...     in_keys=['observation', 'action'])
+        >>> loss = CrossQLoss(actor, qvalue)
+        >>> batch = [2, ]
+        >>> action = spec.rand(batch)
+        >>> loss_actor, loss_qvalue, _, _, _ = loss(
+        ...     observation=torch.randn(*batch, n_obs),
+        ...     action=action,
+        ...     next_done=torch.zeros(*batch, 1, dtype=torch.bool),
+        ...     next_terminated=torch.zeros(*batch, 1, dtype=torch.bool),
+        ...     next_observation=torch.zeros(*batch, n_obs),
+        ...     next_reward=torch.randn(*batch, 1))
+        >>> loss_actor.backward()
+
+    The output keys can also be filtered using the :meth:`CrossQLoss.select_out_keys`
+    method.
+
+    Examples:
+        >>> _ = loss.select_out_keys('loss_actor', 'loss_qvalue')
+        >>> loss_actor, loss_qvalue = loss(
+        ...     observation=torch.randn(*batch, n_obs),
+        ...     action=action,
+        ...     next_done=torch.zeros(*batch, 1, dtype=torch.bool),
+        ...     next_terminated=torch.zeros(*batch, 1, dtype=torch.bool),
+        ...     next_observation=torch.zeros(*batch, n_obs),
+        ...     next_reward=torch.randn(*batch, 1))
+        >>> loss_actor.backward()
+    """
+
+    @dataclass
+    class _AcceptedKeys:
+        """Maintains default values for all configurable tensordict keys.
+
+        This class defines which tensordict keys can be set using '.set_keys(key_name=key_value)' and their
+        default values.
+
+        Attributes:
+            action (NestedKey): The input tensordict key where the action is expected.
+                Defaults to ``"advantage"``.
+            state_action_value (NestedKey): The input tensordict key where the
+                state action value is expected.  Defaults to ``"state_action_value"``.
+            priority (NestedKey): The input tensordict key where the target priority is written to.
+                Defaults to ``"td_error"``.
+            reward (NestedKey): The input tensordict key where the reward is expected.
+                Will be used for the underlying value estimator. Defaults to ``"reward"``.
+            done (NestedKey): The key in the input TensorDict that indicates
+                whether a trajectory is done. Will be used for the underlying value estimator.
+                Defaults to ``"done"``.
+            terminated (NestedKey): The key in the input TensorDict that indicates
+                whether a trajectory is terminated. Will be used for the underlying value estimator.
+                Defaults to ``"terminated"``.
+            log_prob (NestedKey): The input tensordict key where the log probability is expected.
+                Defaults to ``"_log_prob"``.
+        """
+
+        action: NestedKey = "action"
+        state_action_value: NestedKey = "state_action_value"
+        priority: NestedKey = "td_error"
+        reward: NestedKey = "reward"
+        done: NestedKey = "done"
+        terminated: NestedKey = "terminated"
+        log_prob: NestedKey = "_log_prob"
+
+    tensor_keys: _AcceptedKeys
+    default_keys = _AcceptedKeys
+    default_value_estimator = ValueEstimators.TD0
+
+    actor_network: ProbabilisticTensorDictSequential
+    actor_network_params: TensorDictParams
+    qvalue_network: TensorDictModule
+    qvalue_network_params: TensorDictParams
+    target_actor_network_params: TensorDictParams
+    target_qvalue_network_params: TensorDictParams
+
+    def __init__(
+        self,
+        actor_network: ProbabilisticTensorDictSequential,
+        qvalue_network: TensorDictModule | list[TensorDictModule],
+        *,
+        num_qvalue_nets: int = 2,
+        loss_function: str = "smooth_l1",
+        alpha_init: float = 1.0,
+        min_alpha: float | None = None,
+        max_alpha: float | None = None,
+        action_spec=None,
+        fixed_alpha: bool = False,
+        target_entropy: str | float = "auto",
+        priority_key: str | None = None,
+        separate_losses: bool = False,
+        reduction: str | None = None,
+        deactivate_vmap: bool = False,
+    ) -> None:
+        self._in_keys = None
+        self._out_keys = None
+        if reduction is None:
+            reduction = "mean"
+        super().__init__()
+        self._set_deprecated_ctor_keys(priority_key=priority_key)
+
+        self.deactivate_vmap = deactivate_vmap
+
+        # Actor
+        self.convert_to_functional(
+            actor_network,
+            "actor_network",
+            create_target_params=False,
+        )
+        if separate_losses:
+            # we want to make sure there are no duplicates in the params: the
+            # params of critic must be refs to actor if they're shared
+            policy_params = list(actor_network.parameters())
+        else:
+            policy_params = None
+            q_value_policy_params = None
+
+        # Q value
+        self.num_qvalue_nets = num_qvalue_nets
+
+        q_value_policy_params = policy_params
+        self.convert_to_functional(
+            qvalue_network,
+            "qvalue_network",
+            num_qvalue_nets,
+            create_target_params=False,
+            compare_against=q_value_policy_params,
+        )
+
+        self.loss_function = loss_function
+        try:
+            device = next(self.parameters()).device
+        except AttributeError:
+            device = getattr(torch, "get_default_device", lambda: torch.device("cpu"))()
+        self.register_buffer("alpha_init", torch.tensor(alpha_init, device=device))
+        if bool(min_alpha) ^ bool(max_alpha):
+            min_alpha = min_alpha if min_alpha else 0.0
+            if max_alpha == 0:
+                raise ValueError("max_alpha must be either None or greater than 0.")
+            max_alpha = max_alpha if max_alpha else 1e9
+        if min_alpha:
+            self.register_buffer(
+                "min_log_alpha", torch.tensor(min_alpha, device=device).log()
+            )
+        else:
+            self.min_log_alpha = None
+        if max_alpha:
+            self.register_buffer(
+                "max_log_alpha", torch.tensor(max_alpha, device=device).log()
+            )
+        else:
+            self.max_log_alpha = None
+        self.fixed_alpha = fixed_alpha
+        if fixed_alpha:
+            self.register_buffer(
+                "log_alpha", torch.tensor(math.log(alpha_init), device=device)
+            )
+        else:
+            self.register_parameter(
+                "log_alpha",
+                torch.nn.Parameter(torch.tensor(math.log(alpha_init), device=device)),
+            )
+
+        self._target_entropy = target_entropy
+        self._action_spec = action_spec
+        self._make_vmap()
+        self.reduction = reduction
+        # init target entropy
+        self.maybe_init_target_entropy()
+
+    def _make_vmap(self):
+        self._vmap_qnetworkN0 = _vmap_func(
+            self.qvalue_network,
+            (None, 0),
+            randomness=self.vmap_randomness,
+            pseudo_vmap=self.deactivate_vmap,
+        )
+
+    @property
+    def target_entropy_buffer(self):
+        """The target entropy.
+
+        This value can be controlled via the `target_entropy` kwarg in the constructor.
+        """
+        return self.target_entropy
+
+    def maybe_init_target_entropy(self, fault_tolerant=True):
+        """Initialize the target entropy.
+
+        Args:
+            fault_tolerant (bool, optional): if ``True``, returns None if the target entropy
+                cannot be determined. Raises an exception otherwise. Defaults to ``True``.
+
+        """
+        if "_target_entropy" in self._buffers:
+            return
+        target_entropy = self._target_entropy
+        device = next(self.parameters()).device
+        if target_entropy == "auto":
+            action_spec = self.get_action_spec()
+            if action_spec is None:
+                if fault_tolerant:
+                    return
+                raise RuntimeError(
+                    "Cannot infer the dimensionality of the action. Consider providing "
+                    "the target entropy explicitly or provide the spec of the "
+                    "action tensor in the actor network."
+                )
+            if not isinstance(action_spec, Composite):
+                action_spec = Composite({self.tensor_keys.action: action_spec})
+            elif fault_tolerant and self.tensor_keys.action not in action_spec:
+                return
+            if (
+                isinstance(self.tensor_keys.action, tuple)
+                and len(self.tensor_keys.action) > 1
+            ):
+                action_container_shape = action_spec[self.tensor_keys.action[:-1]].shape
+            else:
+                action_container_shape = action_spec.shape
+            target_entropy = -float(
+                action_spec[self.tensor_keys.action]
+                .shape[len(action_container_shape) :]
+                .numel()
+            )
+        delattr(self, "_target_entropy")
+        self.register_buffer(
+            "_target_entropy", torch.tensor(target_entropy, device=device)
+        )
+        return self._target_entropy
+
+    def get_action_spec(self):
+        action_spec = self._action_spec
+        actor_network = self.actor_network
+        action_spec = (
+            action_spec
+            if action_spec is not None
+            else getattr(actor_network, "spec", None)
+        )
+        return action_spec
+
+    @property
+    def target_entropy(self):
+        target_entropy = self._buffers.get("_target_entropy")
+        if target_entropy is not None:
+            return target_entropy
+        return self.maybe_init_target_entropy(fault_tolerant=False)
+
+    def set_keys(self, **kwargs) -> None:
+        out = super().set_keys(**kwargs)
+        self.maybe_init_target_entropy()
+        return out
+
+    state_dict = _delezify(LossModule.state_dict)
+    load_state_dict = _delezify(LossModule.load_state_dict)
+
+    def _forward_value_estimator_keys(self, **kwargs) -> None:
+        if self._value_estimator is not None:
+            self._value_estimator.set_keys(
+                value=self.tensor_keys.value,
+                reward=self.tensor_keys.reward,
+                done=self.tensor_keys.done,
+                terminated=self.tensor_keys.terminated,
+            )
+        self._set_in_keys()
+
+    def make_value_estimator(self, value_type: ValueEstimators = None, **hyperparams):
+        if value_type is None:
+            value_type = self.default_value_estimator
+
+        # Handle ValueEstimatorBase instance or class
+        if isinstance(value_type, ValueEstimatorBase) or (
+            isinstance(value_type, type) and issubclass(value_type, ValueEstimatorBase)
+        ):
+            return LossModule.make_value_estimator(self, value_type, **hyperparams)
+
+        self.value_type = value_type
+
+        value_net = None
+        hp = dict(default_value_kwargs(value_type))
+        hp.update(hyperparams)
+        if value_type is ValueEstimators.TD1:
+            self._value_estimator = TD1Estimator(
+                **hp,
+                value_network=value_net,
+            )
+        elif value_type is ValueEstimators.TD0:
+            self._value_estimator = TD0Estimator(
+                **hp,
+                value_network=value_net,
+            )
+        elif value_type is ValueEstimators.GAE:
+            raise NotImplementedError(
+                f"Value type {value_type} it not implemented for loss {type(self)}."
+            )
+        elif value_type is ValueEstimators.TDLambda:
+            self._value_estimator = TDLambdaEstimator(
+                **hp,
+                value_network=value_net,
+            )
+        else:
+            raise NotImplementedError(f"Unknown value type {value_type}")
+
+        tensor_keys = {
+            "reward": self.tensor_keys.reward,
+            "done": self.tensor_keys.done,
+            "terminated": self.tensor_keys.terminated,
+        }
+        self._value_estimator.set_keys(**tensor_keys)
+
+    @property
+    def device(self) -> torch.device:
+        for p in self.parameters():
+            return p.device
+        raise RuntimeError(
+            "At least one of the networks of SACLoss must have trainable " "parameters."
+        )
+
+    def _set_in_keys(self):
+        keys = [
+            self.tensor_keys.action,
+            ("next", self.tensor_keys.reward),
+            ("next", self.tensor_keys.done),
+            ("next", self.tensor_keys.terminated),
+            *self.actor_network.in_keys,
+            *[("next", key) for key in self.actor_network.in_keys],
+            *self.qvalue_network.in_keys,
+        ]
+        self._in_keys = list(set(keys))
+
+    @property
+    def in_keys(self):
+        if self._in_keys is None:
+            self._set_in_keys()
+        return self._in_keys
+
+    @in_keys.setter
+    def in_keys(self, values):
+        self._in_keys = values
+
+    @property
+    def out_keys(self):
+        if self._out_keys is None:
+            keys = ["loss_actor", "loss_qvalue", "loss_alpha", "alpha", "entropy"]
+            self._out_keys = keys
+        return self._out_keys
+
+    @out_keys.setter
+    def out_keys(self, values):
+        self._out_keys = values
+
+    @dispatch
+    def forward(self, tensordict: TensorDictBase) -> TensorDictBase:
+        """The forward method.
+
+        Computes successively the :meth:`~.qvalue_loss`, :meth:`~.actor_loss` and :meth:`~.alpha_loss`, and returns
+        a tensordict with these values along with the `"alpha"` value and the `"entropy"` value (detached).
+        To see what keys are expected in the input tensordict and what keys are expected as output, check the
+        class's `"in_keys"` and `"out_keys"` attributes.
+        """
+        loss_qvalue, value_metadata = self.qvalue_loss(tensordict)
+        loss_actor, metadata_actor = self.actor_loss(tensordict)
+        loss_alpha = self.alpha_loss(log_prob=metadata_actor["log_prob"])
+        tensordict.set(self.tensor_keys.priority, value_metadata["td_error"])
+        if loss_actor.shape != loss_qvalue.shape:
+            raise RuntimeError(
+                f"Losses shape mismatch: {loss_actor.shape} and {loss_qvalue.shape}"
+            )
+        entropy = -metadata_actor["log_prob"]
+        out = {
+            "loss_actor": loss_actor,
+            "loss_qvalue": loss_qvalue,
+            "loss_alpha": loss_alpha,
+            "alpha": self._alpha,
+            "entropy": entropy.detach().mean(),
+            **metadata_actor,
+            **value_metadata,
+        }
+        td_out = TensorDict(out)
+        self._clear_weakrefs(
+            tensordict,
+            td_out,
+            "actor_network_params",
+            "qvalue_network_params",
+            "target_actor_network_params",
+            "target_qvalue_network_params",
+        )
+        return td_out
+
+    @property
+    @_cache_values
+    def _cached_detached_qvalue_params(self):
+        return self.qvalue_network_params.detach()
+
+    def actor_loss(
+        self, tensordict: TensorDictBase
+    ) -> tuple[Tensor, dict[str, Tensor]]:
+        """Compute the actor loss.
+
+        The actor loss should be computed after the :meth:`~.qvalue_loss` and before the `~.alpha_loss` which
+        requires the `log_prob` field of the `metadata` returned by this method.
+
+        Args:
+            tensordict (TensorDictBase): the input data for the loss. Check the class's `in_keys` to see what fields
+                are required for this to be computed.
+
+        Returns: a differentiable tensor with the alpha loss along with a metadata dictionary containing the detached `"log_prob"` of the sampled action.
+        """
+        tensordict = tensordict.copy()
+        with set_exploration_type(
+            ExplorationType.RANDOM
+        ), self.actor_network_params.to_module(self.actor_network):
+            dist = self.actor_network.get_dist(tensordict)
+            a_reparm = dist.rsample()
+        log_prob = dist.log_prob(a_reparm)
+
+        td_q = tensordict.select(*self.qvalue_network.in_keys, strict=False)
+        self.qvalue_network.eval()
+        td_q.set(self.tensor_keys.action, a_reparm)
+        td_q = self._vmap_qnetworkN0(
+            td_q,
+            self._cached_detached_qvalue_params,
+        )
+
+        min_q = td_q.get(self.tensor_keys.state_action_value).min(0)[0].squeeze(-1)
+        self.qvalue_network.train()
+
+        if log_prob.shape != min_q.shape:
+            raise RuntimeError(
+                f"Losses shape mismatch: {log_prob.shape} and {min_q.shape}"
+            )
+        actor_loss = self._alpha * log_prob - min_q
+        return _reduce(actor_loss, reduction=self.reduction), {
+            "log_prob": log_prob.detach()
+        }
+
+    def qvalue_loss(
+        self, tensordict: TensorDictBase
+    ) -> tuple[Tensor, dict[str, Tensor]]:
+        """Compute the q-value loss.
+
+        The q-value loss should be computed before the :meth:`~.actor_loss`.
+
+        Args:
+            tensordict (TensorDictBase): the input data for the loss. Check the class's `in_keys` to see what fields
+                are required for this to be computed.
+
+        Returns: a differentiable tensor with the qvalue loss along with a metadata dictionary containing
+            the detached `"td_error"` to be used for prioritized sampling.
+        """
+        tensordict = tensordict.copy()
+        # # compute next action
+        with torch.no_grad():
+            with set_exploration_type(
+                ExplorationType.RANDOM
+            ), self.actor_network_params.to_module(self.actor_network):
+                next_tensordict = tensordict.get("next").clone(False)
+                next_dist = self.actor_network.get_dist(next_tensordict)
+                next_action = next_dist.sample()
+                next_tensordict.set(self.tensor_keys.action, next_action)
+                next_sample_log_prob = next_dist.log_prob(next_action)
+
+        combined = torch.cat(
+            [
+                tensordict.select(*self.qvalue_network.in_keys, strict=False),
+                next_tensordict.select(*self.qvalue_network.in_keys, strict=False),
+            ]
+        )
+        pred_qs = self._vmap_qnetworkN0(combined, self.qvalue_network_params).get(
+            self.tensor_keys.state_action_value
+        )
+        (current_state_action_value, next_state_action_value) = pred_qs.split(
+            tensordict.batch_size[0], dim=1
+        )
+
+        # compute target value
+        if (
+            next_state_action_value.shape[-len(next_sample_log_prob.shape) :]
+            != next_sample_log_prob.shape
+        ):
+            next_sample_log_prob = next_sample_log_prob.unsqueeze(-1)
+        next_state_action_value = next_state_action_value.min(0)[0]
+        next_state_action_value = (
+            next_state_action_value - self._alpha * next_sample_log_prob
+        ).detach()
+
+        target_value = self.value_estimator.value_estimate(
+            tensordict, next_value=next_state_action_value
+        ).squeeze(-1)
+
+        # get current q-values
+        pred_val = current_state_action_value.squeeze(-1)
+
+        # compute loss
+        td_error = abs(pred_val - target_value)
+        loss_qval = distance_loss(
+            pred_val,
+            target_value.expand_as(pred_val),
+            loss_function=self.loss_function,
+        ).sum(0)
+        metadata = {"td_error": td_error.detach().max(0)[0]}
+        return _reduce(loss_qval, reduction=self.reduction), metadata
+
+    def alpha_loss(self, log_prob: Tensor) -> Tensor:
+        """Compute the entropy loss.
+
+        The entropy loss should be computed last.
+
+        Args:
+            log_prob (torch.Tensor): a log-probability as computed by the :meth:`~.actor_loss` and returned in the `metadata`.
+
+        Returns: a differentiable tensor with the entropy loss.
+        """
+        if self.target_entropy is not None:
+            # we can compute this loss even if log_alpha is not a parameter
+            alpha_loss = -self.log_alpha * (log_prob + self.target_entropy)
+        else:
+            # placeholder
+            alpha_loss = torch.zeros_like(log_prob)
+        return _reduce(alpha_loss, reduction=self.reduction)
+
+    @property
+    def _alpha(self):
+        if self.min_log_alpha is not None or self.max_log_alpha is not None:
+            self.log_alpha.data.clamp_(self.min_log_alpha, self.max_log_alpha)
+        with torch.no_grad():
+            alpha = self.log_alpha.exp()
+        return alpha