torchrl 0.11.0__cp314-cp314-win_amd64.whl

torchrl/objectives/redq.py

@@ -0,0 +1,683 @@
+# 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 numbers import Number
+
+import torch
+from tensordict import TensorDict, TensorDictBase, TensorDictParams
+from tensordict.nn import composite_lp_aggregate, dispatch, 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, step_mdp
+from torchrl.objectives.common import LossModule
+from torchrl.objectives.utils import (
+    _cache_values,
+    _GAMMA_LMBDA_DEPREC_ERROR,
+    _reduce,
+    _vmap_func,
+    default_value_kwargs,
+    distance_loss,
+    ValueEstimators,
+)
+from torchrl.objectives.value import (
+    TD0Estimator,
+    TD1Estimator,
+    TDLambdaEstimator,
+    ValueEstimatorBase,
+)
+
+
+class REDQLoss(LossModule):
+    """REDQ Loss module.
+
+    REDQ (RANDOMIZED ENSEMBLED DOUBLE Q-LEARNING: LEARNING FAST WITHOUT A MODEL
+    https://openreview.net/pdf?id=AY8zfZm0tDd) generalizes the idea of using an ensemble of Q-value functions to
+    train a SAC-like algorithm.
+
+    Args:
+        actor_network (TensorDictModule): the actor to be trained
+        qvalue_network (TensorDictModule): a single Q-value network or a list of Q-value networks.
+            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 (int, optional): Number of Q-value networks to be trained.
+            Default is ``10``.
+        sub_sample_len (int, optional): number of Q-value networks to be
+            subsampled to evaluate the next state value
+            Default is ``2``.
+        loss_function (str, optional): loss function to be used for the Q-value.
+            Can be one of  ``"smooth_l1"``, ``"l2"``,
+            ``"l1"``, 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 ``0.1``.
+        max_alpha (:obj:`float`, optional): max value of alpha.
+            Default is ``10.0``.
+        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): whether alpha should be trained to match
+            a target entropy. Default is ``False``.
+        target_entropy (Union[str, Number], optional): Target entropy for the
+            stochastic policy. Default is "auto", where target entropy is
+            computed as :obj:`-prod(n_actions)`.
+        delay_qvalue (bool, optional): Whether to separate the target Q value
+            networks from the Q value networks used
+            for data collection. Default is ``False``.
+        gSDE (bool, optional): Knowing if gSDE is used is necessary to create
+            random noise variables.
+            Default is ``False``.
+        priority_key (str, optional): [Deprecated, use .set_keys() instead] Key where to write the priority value
+            for prioritized replay buffers. Default is
+            ``"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.redq import REDQLoss
+        >>> 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 = REDQLoss(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={
+                action_log_prob_actor: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False),
+                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),
+                next.state_value: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False),
+                state_action_value_actor: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False),
+                target_value: 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", "state_action_value_actor", "action_log_prob_actor", "next.state_value", "target_value",]``.
+
+    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.redq import REDQLoss
+        >>> 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 = REDQLoss(actor, qvalue)
+        >>> batch = [2, ]
+        >>> action = spec.rand(batch)
+        >>> # filter output keys to "loss_actor", and "loss_qvalue"
+        >>> _ = 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_reward=torch.randn(*batch, 1),
+        ...         next_observation=torch.randn(*batch, n_obs))
+        >>> 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:
+            value (NestedKey): The input tensordict key where the state value is expected.
+                Will be used for the underlying value estimator. Defaults to ``"state_value"``.
+            action (NestedKey): The input tensordict key where the action is expected. Defaults to ``"action"``.
+            sample_log_prob (NestedKey): The input tensordict key where the
+                sample log probability is expected.
+                Defaults to ``"sample_log_prob"`` when :func:`~tensordict.nn.composite_lp_aggregate` returns `True`,
+                `"action_log_prob"`  otherwise.
+            priority (NestedKey): The input tensordict key where the target
+                priority is written to. Defaults to ``"td_error"``.
+            state_action_value (NestedKey): The input tensordict key where the
+                state action value is expected. Defaults to ``"state_action_value"``.
+            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"``.
+        """
+
+        action: NestedKey = "action"
+        value: NestedKey = "state_value"
+        sample_log_prob: NestedKey | None = None
+        priority: NestedKey = "td_error"
+        state_action_value: NestedKey = "state_action_value"
+        reward: NestedKey = "reward"
+        done: NestedKey = "done"
+        terminated: NestedKey = "terminated"
+
+        def __post_init__(self):
+            if self.sample_log_prob is None:
+                if composite_lp_aggregate(nowarn=True):
+                    self.sample_log_prob = "sample_log_prob"
+                else:
+                    self.sample_log_prob = "action_log_prob"
+
+    tensor_keys: _AcceptedKeys
+    default_keys = _AcceptedKeys
+    delay_actor: bool = False
+    default_value_estimator = ValueEstimators.TD0
+    out_keys = [
+        "loss_actor",
+        "loss_qvalue",
+        "loss_alpha",
+        "alpha",
+        "entropy",
+        "state_action_value_actor",
+        "action_log_prob_actor",
+        "next.state_value",
+        "target_value",
+    ]
+
+    actor_network: TensorDictModule
+    qvalue_network: TensorDictModule
+    actor_network_params: TensorDictParams
+    qvalue_network_params: TensorDictParams
+    target_actor_network_params: TensorDictParams
+    target_qvalue_network_params: TensorDictParams
+
+    def __init__(
+        self,
+        actor_network: TensorDictModule,
+        qvalue_network: TensorDictModule | list[TensorDictModule],
+        *,
+        num_qvalue_nets: int = 10,
+        sub_sample_len: int = 2,
+        loss_function: str = "smooth_l1",
+        alpha_init: float = 1.0,
+        min_alpha: float = 0.1,
+        max_alpha: float = 10.0,
+        action_spec=None,
+        fixed_alpha: bool = False,
+        target_entropy: str | Number = "auto",
+        delay_qvalue: bool = True,
+        gSDE: bool = False,
+        gamma: float | None = None,
+        priority_key: str | None = None,
+        separate_losses: bool = False,
+        reduction: str | None = None,
+        deactivate_vmap: bool = False,
+    ):
+        if reduction is None:
+            reduction = "mean"
+        super().__init__()
+        self._in_keys = None
+        self._set_deprecated_ctor_keys(priority_key=priority_key)
+
+        self.convert_to_functional(
+            actor_network,
+            "actor_network",
+            create_target_params=self.delay_actor,
+        )
+
+        # let's make sure that actor_network has `return_log_prob` set to True
+        self.actor_network.return_log_prob = True
+        self.deactivate_vmap = deactivate_vmap
+        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
+        self.delay_qvalue = delay_qvalue
+        self.convert_to_functional(
+            qvalue_network,
+            "qvalue_network",
+            num_qvalue_nets,
+            create_target_params=self.delay_qvalue,
+            compare_against=policy_params,
+        )
+        self.num_qvalue_nets = num_qvalue_nets
+        self.sub_sample_len = max(1, min(sub_sample_len, num_qvalue_nets - 1))
+        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))
+        self.register_buffer(
+            "min_log_alpha", torch.tensor(min_alpha, device=device).log()
+        )
+        self.register_buffer(
+            "max_log_alpha", torch.tensor(max_alpha, device=device).log()
+        )
+        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, requires_grad=True
+                    )
+                ),
+            )
+
+        self._target_entropy = target_entropy
+        self._action_spec = action_spec
+        self.target_entropy_buffer = None
+        self.reduction = reduction
+        self.gSDE = gSDE
+        if gamma is not None:
+            raise TypeError(_GAMMA_LMBDA_DEPREC_ERROR)
+        self._make_vmap()
+
+    def _make_vmap(self):
+        self._vmap_qvalue_network00 = _vmap_func(
+            self.qvalue_network,
+            randomness=self.vmap_randomness,
+            pseudo_vmap=self.deactivate_vmap,
+        )
+        self._vmap_getdist = _vmap_func(
+            self.actor_network,
+            func="get_dist_params",
+            randomness=self.vmap_randomness,
+            pseudo_vmap=self.deactivate_vmap,
+        )
+
+    @property
+    def target_entropy(self):
+        target_entropy = self.target_entropy_buffer
+        if target_entropy is None:
+            delattr(self, "target_entropy_buffer")
+            target_entropy = self._target_entropy
+            action_spec = self._action_spec
+            actor_network = self.actor_network
+            device = next(self.parameters()).device
+            if target_entropy == "auto":
+                action_spec = (
+                    action_spec
+                    if action_spec is not None
+                    else getattr(actor_network, "spec", None)
+                )
+                if action_spec is None:
+                    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})
+                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()
+                )
+            self.register_buffer(
+                "target_entropy_buffer", torch.tensor(target_entropy, device=device)
+            )
+            return self.target_entropy_buffer
+        return target_entropy
+
+    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()
+
+    @property
+    def alpha(self):
+        with torch.no_grad():
+            return self.log_alpha.clamp(self.min_log_alpha, self.max_log_alpha).exp()
+
+    def _set_in_keys(self):
+        keys = [
+            self.tensor_keys.action,
+            self.tensor_keys.sample_log_prob,
+            ("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
+    @_cache_values
+    def _cached_detach_qvalue_network_params(self):
+        return self.qvalue_network_params.detach()
+
+    def _qvalue_params_cat(self, selected_q_params):
+        qvalue_params = torch.cat(
+            [
+                self._cached_detach_qvalue_network_params,
+                selected_q_params,
+                self.qvalue_network_params,
+            ],
+            0,
+        )
+        return qvalue_params
+
+    @dispatch
+    def forward(self, tensordict: TensorDictBase) -> TensorDictBase:
+        obs_keys = self.actor_network.in_keys
+        tensordict_select = tensordict.select(
+            "next", *obs_keys, self.tensor_keys.action, strict=False
+        )
+        # We need to copy bc select does not copy sub-tds
+        tensordict_select = tensordict_select.copy()
+
+        selected_models_idx = torch.randperm(self.num_qvalue_nets)[
+            : self.sub_sample_len
+        ].sort()[0]
+        selected_q_params = self.target_qvalue_network_params[selected_models_idx]
+
+        actor_params = torch.stack(
+            [self.actor_network_params, self.target_actor_network_params], 0
+        )
+
+        tensordict_actor_grad = tensordict_select.select(
+            *obs_keys, strict=False
+        )  # to avoid overwriting keys
+        next_td_actor = step_mdp(tensordict_select).select(
+            *self.actor_network.in_keys, strict=False
+        )  # next_observation ->
+        tensordict_actor = torch.stack([tensordict_actor_grad, next_td_actor], 0)
+
+        with set_exploration_type(ExplorationType.RANDOM):
+            if self.gSDE:
+                tensordict_actor.set(
+                    "_eps_gSDE",
+                    torch.zeros(tensordict_actor.shape, device=tensordict_actor.device),
+                )
+            # vmap doesn't support sampling, so we take it out from the vmap
+            td_params = self._vmap_getdist(
+                tensordict_actor,
+                actor_params,
+            )
+            sample_key = self.tensor_keys.action
+            sample_key_lp = self.tensor_keys.sample_log_prob
+            tensordict_actor_dist = self.actor_network.build_dist_from_params(td_params)
+            tensordict_actor.set(sample_key, tensordict_actor_dist.rsample())
+            tensordict_actor.set(
+                sample_key_lp,
+                tensordict_actor_dist.log_prob(tensordict_actor.get(sample_key)),
+            )
+
+        # repeat tensordict_actor to match the qvalue size
+        _actor_loss_td = (
+            tensordict_actor[0]
+            .select(*self.qvalue_network.in_keys)
+            .expand(self.num_qvalue_nets, *tensordict_actor[0].batch_size)
+        )  # for actor loss
+        _qval_td = tensordict_select.select(*self.qvalue_network.in_keys).expand(
+            self.num_qvalue_nets,
+            *tensordict_select.select(*self.qvalue_network.in_keys).batch_size,
+        )  # for qvalue loss
+        _next_val_td = (
+            tensordict_actor[1]
+            .select(*self.qvalue_network.in_keys)
+            .expand(self.sub_sample_len, *tensordict_actor[1].batch_size)
+        )  # for next value estimation
+        tensordict_qval = torch.cat(
+            [
+                _actor_loss_td,
+                _next_val_td,
+                _qval_td,
+            ],
+            0,
+        )
+
+        # cat params
+        tensordict_qval = self._vmap_qvalue_network00(
+            tensordict_qval,
+            self._qvalue_params_cat(selected_q_params),
+        )
+
+        state_action_value = tensordict_qval.get(
+            self.tensor_keys.state_action_value
+        ).squeeze(-1)
+        (
+            state_action_value_actor,
+            next_state_action_value_qvalue,
+            state_action_value_qvalue,
+        ) = state_action_value.split(
+            [self.num_qvalue_nets, self.sub_sample_len, self.num_qvalue_nets],
+            dim=0,
+        )
+        sample_log_prob = tensordict_actor.get(
+            self.tensor_keys.sample_log_prob
+        ).squeeze(-1)
+        (
+            action_log_prob_actor,
+            next_action_log_prob_qvalue,
+        ) = sample_log_prob.unbind(0)
+
+        loss_actor = -(state_action_value_actor - self.alpha * action_log_prob_actor)
+
+        next_state_value = (
+            next_state_action_value_qvalue - self.alpha * next_action_log_prob_qvalue
+        )
+        next_state_value = next_state_value.min(0)[0]
+
+        tensordict_select.set(
+            ("next", self.tensor_keys.value), next_state_value.unsqueeze(-1)
+        )
+        target_value = self.value_estimator.value_estimate(tensordict_select).squeeze(
+            -1
+        )
+
+        pred_val = state_action_value_qvalue
+        td_error = (pred_val - target_value).pow(2)
+        loss_qval = distance_loss(
+            pred_val,
+            target_value.expand_as(pred_val),
+            loss_function=self.loss_function,
+        )
+
+        tensordict.set(self.tensor_keys.priority, td_error.detach().max(0)[0])
+
+        loss_alpha = self._loss_alpha(sample_log_prob)
+        if not loss_qval.shape == loss_actor.shape:
+            raise RuntimeError(
+                f"QVal and actor loss have different shape: {loss_qval.shape} and {loss_actor.shape}"
+            )
+        td_out = TensorDict(
+            {
+                "loss_actor": loss_actor,
+                "loss_qvalue": loss_qval,
+                "loss_alpha": loss_alpha,
+                "alpha": self.alpha.detach(),
+                "entropy": -sample_log_prob.detach().mean(),
+                "state_action_value_actor": state_action_value_actor.detach(),
+                "action_log_prob_actor": action_log_prob_actor.detach(),
+                "next.state_value": next_state_value.detach(),
+                "target_value": target_value.detach(),
+            },
+            [],
+        )
+        td_out = td_out.named_apply(
+            lambda name, value: _reduce(value, reduction=self.reduction)
+            if name.startswith("loss_")
+            else value,
+        )
+        self._clear_weakrefs(
+            tensordict,
+            td_out,
+            "actor_network_params",
+            "qvalue_network_params",
+            "target_actor_network_params",
+            "target_qvalue_network_params",
+        )
+        return td_out
+
+    def _loss_alpha(self, log_pi: Tensor) -> Tensor:
+        if torch.is_grad_enabled() and not log_pi.requires_grad:
+            raise RuntimeError(
+                "expected log_pi to require gradient for the alpha loss)"
+            )
+        if self.target_entropy is not None:
+            # we can compute this loss even if log_alpha is not a parameter
+            alpha_loss = -self._safe_log_alpha.exp() * (
+                log_pi.detach() + self.target_entropy
+            )
+        else:
+            # placeholder
+            alpha_loss = torch.zeros_like(log_pi)
+        return alpha_loss
+
+    @property
+    def _safe_log_alpha(self):
+        log_alpha = self.log_alpha
+        with torch.no_grad():
+            log_alpha_clamp = log_alpha.clamp(self.min_log_alpha, self.max_log_alpha)
+            log_alpha_det = log_alpha.detach()
+        return log_alpha - log_alpha_det + log_alpha_clamp
+
+    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
+        hp = dict(default_value_kwargs(value_type))
+        if hasattr(self, "gamma"):
+            hp["gamma"] = self.gamma
+        hp.update(hyperparams)
+        # we do not need a value network bc the next state value is already passed
+        if value_type == ValueEstimators.TD1:
+            self._value_estimator = TD1Estimator(value_network=None, **hp)
+        elif value_type == ValueEstimators.TD0:
+            self._value_estimator = TD0Estimator(value_network=None, **hp)
+        elif value_type == ValueEstimators.GAE:
+            raise NotImplementedError(
+                f"Value type {value_type} it not implemented for loss {type(self)}."
+            )
+        elif value_type == ValueEstimators.TDLambda:
+            self._value_estimator = TDLambdaEstimator(value_network=None, **hp)
+        else:
+            raise NotImplementedError(f"Unknown value type {value_type}")
+
+        tensor_keys = {
+            "value": self.tensor_keys.value,
+            "reward": self.tensor_keys.reward,
+            "done": self.tensor_keys.done,
+            "terminated": self.tensor_keys.terminated,
+        }
+        self._value_estimator.set_keys(**tensor_keys)