torchrl 0.11.0__cp314-cp314-win_amd64.whl

torchrl/trainers/algorithms/ppo.py

@@ -0,0 +1,373 @@
+# 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 pathlib
+import warnings
+
+from collections.abc import Callable
+
+from functools import partial
+
+from tensordict import TensorDict, TensorDictBase
+from torch import optim
+
+from torchrl.collectors import BaseCollector
+
+from torchrl.data.replay_buffers.replay_buffers import ReplayBuffer
+from torchrl.data.replay_buffers.samplers import SamplerWithoutReplacement
+from torchrl.objectives.common import LossModule
+from torchrl.objectives.value.advantages import GAE
+from torchrl.record.loggers import Logger
+from torchrl.trainers.trainers import (
+    LogScalar,
+    ReplayBufferTrainer,
+    Trainer,
+    UpdateWeights,
+)
+
+try:
+    pass
+
+    _has_tqdm = True
+except ImportError:
+    _has_tqdm = False
+
+try:
+    pass
+
+    _has_ts = True
+except ImportError:
+    _has_ts = False
+
+
+class PPOTrainer(Trainer):
+    """PPO (Proximal Policy Optimization) trainer implementation.
+
+    .. warning::
+        This is an experimental/prototype feature. The API may change in future versions.
+        Please report any issues or feedback to help improve this implementation.
+
+    This trainer implements the PPO algorithm for training reinforcement learning agents.
+    It extends the base Trainer class with PPO-specific functionality including
+    policy optimization, value function learning, and entropy regularization.
+
+    PPO typically uses multiple epochs of optimization on the same batch of data.
+    This trainer defaults to 4 epochs, which is a common choice for PPO implementations.
+
+    The trainer includes comprehensive logging capabilities for monitoring training progress:
+    - Training rewards (mean, std, max, total)
+    - Action statistics (norms)
+    - Episode completion rates
+    - Observation statistics (optional)
+
+    Logging can be configured via constructor parameters to enable/disable specific metrics.
+
+    Args:
+        collector (BaseCollector): The data collector for gathering training data.
+        total_frames (int): Total number of frames to train for.
+        frame_skip (int): Frame skip value for the environment.
+        optim_steps_per_batch (int): Number of optimization steps per batch.
+        loss_module (LossModule): The loss module for computing policy and value losses.
+        optimizer (optim.Optimizer, optional): The optimizer for training.
+        logger (Logger, optional): Logger for tracking training metrics.
+        clip_grad_norm (bool, optional): Whether to clip gradient norms. Default: True.
+        clip_norm (float, optional): Maximum gradient norm value.
+        progress_bar (bool, optional): Whether to show a progress bar. Default: True.
+        seed (int, optional): Random seed for reproducibility.
+        save_trainer_interval (int, optional): Interval for saving trainer state. Default: 10000.
+        log_interval (int, optional): Interval for logging metrics. Default: 10000.
+        save_trainer_file (str | pathlib.Path, optional): File path for saving trainer state.
+        num_epochs (int, optional): Number of epochs per batch. Default: 4.
+        replay_buffer (ReplayBuffer, optional): Replay buffer for storing data.
+        batch_size (int, optional): Batch size for optimization.
+        gamma (float, optional): Discount factor for GAE. Default: 0.9.
+        lmbda (float, optional): Lambda parameter for GAE. Default: 0.99.
+        enable_logging (bool, optional): Whether to enable logging. Default: True.
+        log_rewards (bool, optional): Whether to log rewards. Default: True.
+        log_actions (bool, optional): Whether to log actions. Default: True.
+        log_observations (bool, optional): Whether to log observations. Default: False.
+        async_collection (bool, optional): Whether to use async collection. Default: False.
+        add_gae (bool, optional): Whether to add GAE computation. Default: True.
+        gae (Callable, optional): Custom GAE module. If None and add_gae is True, a default GAE will be created.
+        weight_update_map (dict[str, str], optional): Mapping from collector destination paths (keys in
+            collector's weight_sync_schemes) to trainer source paths. Required if collector has
+            weight_sync_schemes configured. Example: {"policy": "loss_module.actor_network",
+            "replay_buffer.transforms[0]": "loss_module.critic_network"}
+        log_timings (bool, optional): If True, automatically register a LogTiming hook to log
+            timing information for all hooks to the logger (e.g., wandb, tensorboard).
+            Timing metrics will be logged with prefix "time/" (e.g., "time/hook/UpdateWeights").
+            Default is False.
+
+    Examples:
+        >>> # Basic usage with manual configuration
+        >>> from torchrl.trainers.algorithms.ppo import PPOTrainer
+        >>> from torchrl.trainers.algorithms.configs import PPOTrainerConfig
+        >>> from hydra import instantiate
+        >>> config = PPOTrainerConfig(...)  # Configure with required parameters
+        >>> trainer = instantiate(config)
+        >>> trainer.train()
+
+    .. note::
+        This trainer requires a configurable environment setup. See the
+        :class:`~torchrl.trainers.algorithms.configs` module for configuration options.
+
+    .. warning::
+        This is an experimental feature. The API may change in future versions.
+        We welcome feedback and contributions to help improve this implementation!
+    """
+
+    def __init__(
+        self,
+        *,
+        collector: BaseCollector,
+        total_frames: int,
+        frame_skip: int,
+        optim_steps_per_batch: int,
+        loss_module: LossModule | Callable[[TensorDictBase], TensorDictBase],
+        optimizer: optim.Optimizer | None = None,
+        logger: Logger | None = None,
+        clip_grad_norm: bool = True,
+        clip_norm: float | None = None,
+        progress_bar: bool = True,
+        seed: int | None = None,
+        save_trainer_interval: int = 10000,
+        log_interval: int = 10000,
+        save_trainer_file: str | pathlib.Path | None = None,
+        num_epochs: int = 4,
+        replay_buffer: ReplayBuffer | None = None,
+        batch_size: int | None = None,
+        gamma: float = 0.9,
+        lmbda: float = 0.99,
+        enable_logging: bool = True,
+        log_rewards: bool = True,
+        log_actions: bool = True,
+        log_observations: bool = False,
+        async_collection: bool = False,
+        add_gae: bool = True,
+        gae: Callable[[TensorDictBase], TensorDictBase] | None = None,
+        weight_update_map: dict[str, str] | None = None,
+        log_timings: bool = False,
+    ) -> None:
+        warnings.warn(
+            "PPOTrainer is an experimental/prototype feature. The API may change in future versions. "
+            "Please report any issues or feedback to help improve this implementation.",
+            UserWarning,
+            stacklevel=2,
+        )
+        super().__init__(
+            collector=collector,
+            total_frames=total_frames,
+            frame_skip=frame_skip,
+            optim_steps_per_batch=optim_steps_per_batch,
+            loss_module=loss_module,
+            optimizer=optimizer,
+            logger=logger,
+            clip_grad_norm=clip_grad_norm,
+            clip_norm=clip_norm,
+            progress_bar=progress_bar,
+            seed=seed,
+            save_trainer_interval=save_trainer_interval,
+            log_interval=log_interval,
+            save_trainer_file=save_trainer_file,
+            num_epochs=num_epochs,
+            async_collection=async_collection,
+            log_timings=log_timings,
+        )
+        self.replay_buffer = replay_buffer
+        self.async_collection = async_collection
+
+        if add_gae and gae is None:
+            gae = GAE(
+                gamma=gamma,
+                lmbda=lmbda,
+                value_network=self.loss_module.critic_network,
+                average_gae=True,
+            )
+            self.register_op("pre_epoch", gae)
+        elif not add_gae and gae is not None:
+            raise ValueError("gae must not be provided if add_gae is False")
+
+        if (
+            not self.async_collection
+            and replay_buffer is not None
+            and not isinstance(replay_buffer.sampler, SamplerWithoutReplacement)
+        ):
+            warnings.warn(
+                "Sampler is not a SamplerWithoutReplacement, which is required for PPO."
+            )
+
+        if replay_buffer is not None:
+            rb_trainer = ReplayBufferTrainer(
+                replay_buffer,
+                batch_size=None,
+                flatten_tensordicts=True,
+                memmap=False,
+                device=getattr(replay_buffer.storage, "device", "cpu"),
+                iterate=True,
+            )
+
+            if not self.async_collection:
+                # rb has been extended by the collector
+                self.register_op("pre_epoch", rb_trainer.extend)
+            self.register_op("process_optim_batch", rb_trainer.sample)
+            self.register_op("post_loss", rb_trainer.update_priority)
+
+        # Set up weight updates
+        # Validate weight_update_map if collector has weight_sync_schemes
+        if (
+            hasattr(self.collector, "_weight_sync_schemes")
+            and self.collector._weight_sync_schemes
+        ):
+            if weight_update_map is None:
+                raise ValueError(
+                    "Collector has weight_sync_schemes configured, but weight_update_map was not provided. "
+                    f"Please provide a mapping for all destinations: {list(self.collector._weight_sync_schemes.keys())}"
+                )
+
+            # Validate that all scheme destinations are covered in the map
+            scheme_destinations = set(self.collector._weight_sync_schemes.keys())
+            map_destinations = set(weight_update_map.keys())
+
+            if scheme_destinations != map_destinations:
+                missing = scheme_destinations - map_destinations
+                extra = map_destinations - scheme_destinations
+                error_msg = "weight_update_map does not match collector's weight_sync_schemes.\n"
+                if missing:
+                    error_msg += f"  Missing destinations: {missing}\n"
+                if extra:
+                    error_msg += f"  Extra destinations: {extra}\n"
+                raise ValueError(error_msg)
+
+            # Use the weight_update_map approach
+            update_weights = UpdateWeights(
+                self.collector,
+                1,
+                weight_update_map=weight_update_map,
+                trainer=self,
+            )
+        else:
+            # Fall back to legacy approach for backward compatibility
+            if weight_update_map is not None:
+                warnings.warn(
+                    "weight_update_map was provided but collector has no weight_sync_schemes. "
+                    "Ignoring weight_update_map and using legacy policy_weights_getter.",
+                    UserWarning,
+                    stacklevel=2,
+                )
+
+            policy_weights_getter = partial(
+                TensorDict.from_module, self.loss_module.actor_network
+            )
+            update_weights = UpdateWeights(
+                self.collector, 1, policy_weights_getter=policy_weights_getter
+            )
+
+        self.register_op("post_steps", update_weights)
+
+        # Store logging configuration
+        self.enable_logging = enable_logging
+        self.log_rewards = log_rewards
+        self.log_actions = log_actions
+        self.log_observations = log_observations
+
+        # Set up comprehensive logging for PPO training
+        if self.enable_logging:
+            self._setup_ppo_logging()
+
+    def _setup_ppo_logging(self):
+        """Set up logging hooks for PPO-specific metrics.
+
+        This method configures logging for common PPO metrics including:
+        - Training rewards (mean and std)
+        - Action statistics (norms, entropy)
+        - Episode completion rates
+        - Value function statistics
+        - Advantage statistics
+        """
+        # Always log done states as percentage (episode completion rate)
+        log_done_percentage = LogScalar(
+            key=("next", "done"),
+            logname="done_percentage",
+            log_pbar=True,
+            include_std=False,  # No std for binary values
+            reduction="mean",
+        )
+        if not self.async_collection:
+            self.register_op("pre_steps_log", log_done_percentage)
+        else:
+            self.register_op("post_optim_log", log_done_percentage)
+
+        # Log rewards if enabled
+        if self.log_rewards:
+            # 1. Log training rewards (most important metric for PPO)
+            log_rewards = LogScalar(
+                key=("next", "reward"),
+                logname="r_training",
+                log_pbar=True,  # Show in progress bar
+                include_std=True,
+                reduction="mean",
+            )
+            if not self.async_collection:
+                self.register_op("pre_steps_log", log_rewards)
+            else:
+                self.register_op("post_optim_log", log_rewards)
+
+            # 2. Log maximum reward in batch (for monitoring best performance)
+            log_max_reward = LogScalar(
+                key=("next", "reward"),
+                logname="r_max",
+                log_pbar=False,
+                include_std=False,
+                reduction="max",
+            )
+            if not self.async_collection:
+                self.register_op("pre_steps_log", log_max_reward)
+            else:
+                self.register_op("post_optim_log", log_max_reward)
+
+            # 3. Log total reward in batch (for monitoring cumulative performance)
+            log_total_reward = LogScalar(
+                key=("next", "reward"),
+                logname="r_total",
+                log_pbar=False,
+                include_std=False,
+                reduction="sum",
+            )
+            if not self.async_collection:
+                self.register_op("pre_steps_log", log_total_reward)
+            else:
+                self.register_op("post_optim_log", log_total_reward)
+
+        # Log actions if enabled
+        if self.log_actions:
+            # 4. Log action norms (useful for monitoring policy behavior)
+            log_action_norm = LogScalar(
+                key="action",
+                logname="action_norm",
+                log_pbar=False,
+                include_std=True,
+                reduction="mean",
+            )
+            if not self.async_collection:
+                self.register_op("pre_steps_log", log_action_norm)
+            else:
+                self.register_op("post_optim_log", log_action_norm)
+
+        # Log observations if enabled
+        if self.log_observations:
+            # 5. Log observation statistics (for monitoring state distributions)
+            log_obs_norm = LogScalar(
+                key="observation",
+                logname="obs_norm",
+                log_pbar=False,
+                include_std=True,
+                reduction="mean",
+            )
+            if not self.async_collection:
+                self.register_op("pre_steps_log", log_obs_norm)
+            else:
+                self.register_op("post_optim_log", log_obs_norm)

torchrl/trainers/algorithms/sac.py

@@ -0,0 +1,308 @@
+# 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 pathlib
+import warnings
+
+from collections.abc import Callable
+
+from functools import partial
+
+from tensordict import TensorDict, TensorDictBase
+from torch import optim
+
+from torchrl.collectors import BaseCollector
+
+from torchrl.data.replay_buffers.replay_buffers import ReplayBuffer
+from torchrl.objectives.common import LossModule
+from torchrl.objectives.utils import TargetNetUpdater
+from torchrl.record.loggers import Logger
+from torchrl.trainers.trainers import (
+    LogScalar,
+    ReplayBufferTrainer,
+    TargetNetUpdaterHook,
+    Trainer,
+    UpdateWeights,
+    UTDRHook,
+)
+
+
+class SACTrainer(Trainer):
+    """A trainer class for Soft Actor-Critic (SAC) algorithm.
+
+    This trainer implements the SAC algorithm, an off-policy actor-critic method that
+    optimizes a stochastic policy in an off-policy way, forming a bridge between
+    stochastic policy optimization and DDPG-style approaches. SAC incorporates the
+    entropy measure of the policy into the reward to encourage exploration.
+
+    The trainer handles:
+    - Replay buffer management for off-policy learning
+    - Target network updates with configurable update frequency
+    - Policy weight updates to the data collector
+    - Comprehensive logging of training metrics
+    - Gradient clipping and optimization steps
+
+    Args:
+        collector (BaseCollector): The data collector used to gather environment interactions.
+        total_frames (int): Total number of frames to collect during training.
+        frame_skip (int): Number of frames to skip between policy updates.
+        optim_steps_per_batch (int): Number of optimization steps per collected batch.
+        loss_module (LossModule | Callable): The SAC loss module or a callable that computes losses.
+        optimizer (optim.Optimizer, optional): The optimizer for training. If None, must be configured elsewhere.
+        logger (Logger, optional): Logger for recording training metrics. Defaults to None.
+        clip_grad_norm (bool, optional): Whether to clip gradient norms. Defaults to True.
+        clip_norm (float, optional): Maximum gradient norm for clipping. Defaults to None.
+        progress_bar (bool, optional): Whether to show a progress bar during training. Defaults to True.
+        seed (int, optional): Random seed for reproducibility. Defaults to None.
+        save_trainer_interval (int, optional): Interval for saving trainer state. Defaults to 10000.
+        log_interval (int, optional): Interval for logging metrics. Defaults to 10000.
+        save_trainer_file (str | pathlib.Path, optional): File path for saving trainer state. Defaults to None.
+        replay_buffer (ReplayBuffer, optional): Replay buffer for storing and sampling experiences. Defaults to None.
+        batch_size (int, optional): Batch size for sampling from replay buffer. Defaults to None.
+        enable_logging (bool, optional): Whether to enable metric logging. Defaults to True.
+        log_rewards (bool, optional): Whether to log reward statistics. Defaults to True.
+        log_actions (bool, optional): Whether to log action statistics. Defaults to True.
+        log_observations (bool, optional): Whether to log observation statistics. Defaults to False.
+        target_net_updater (TargetNetUpdater, optional): Target network updater for soft updates. Defaults to None.
+
+    Example:
+        >>> from torchrl.collectors import Collector
+        >>> from torchrl.objectives import SACLoss
+        >>> from torchrl.data import ReplayBuffer, LazyTensorStorage
+        >>> from torch import optim
+        >>>
+        >>> # Set up collector, loss, and replay buffer
+        >>> collector = Collector(env, policy, frames_per_batch=1000)
+        >>> loss_module = SACLoss(actor_network, qvalue_network)
+        >>> optimizer = optim.Adam(loss_module.parameters(), lr=3e-4)
+        >>> replay_buffer = ReplayBuffer(storage=LazyTensorStorage(100000))
+        >>>
+        >>> # Create and run trainer
+        >>> trainer = SACTrainer(
+        ...     collector=collector,
+        ...     total_frames=1000000,
+        ...     frame_skip=1,
+        ...     optim_steps_per_batch=100,
+        ...     loss_module=loss_module,
+        ...     optimizer=optimizer,
+        ...     replay_buffer=replay_buffer,
+        ... )
+        >>> trainer.train()
+
+    Note:
+        This is an experimental/prototype feature. The API may change in future versions.
+        SAC is particularly effective for continuous control tasks and environments where
+        exploration is crucial due to its entropy regularization.
+
+    """
+
+    def __init__(
+        self,
+        *,
+        collector: BaseCollector,
+        total_frames: int,
+        frame_skip: int,
+        optim_steps_per_batch: int,
+        loss_module: LossModule | Callable[[TensorDictBase], TensorDictBase],
+        optimizer: optim.Optimizer | None = None,
+        logger: Logger | None = None,
+        clip_grad_norm: bool = True,
+        clip_norm: float | None = None,
+        progress_bar: bool = True,
+        seed: int | None = None,
+        save_trainer_interval: int = 10000,
+        log_interval: int = 10000,
+        save_trainer_file: str | pathlib.Path | None = None,
+        replay_buffer: ReplayBuffer | None = None,
+        batch_size: int | None = None,
+        enable_logging: bool = True,
+        log_rewards: bool = True,
+        log_actions: bool = True,
+        log_observations: bool = False,
+        target_net_updater: TargetNetUpdater | None = None,
+        async_collection: bool = False,
+        log_timings: bool = False,
+    ) -> None:
+        warnings.warn(
+            "SACTrainer is an experimental/prototype feature. The API may change in future versions. "
+            "Please report any issues or feedback to help improve this implementation.",
+            UserWarning,
+            stacklevel=2,
+        )
+        # try to get the action spec
+        self._pass_action_spec_from_collector_to_loss(collector, loss_module)
+
+        super().__init__(
+            collector=collector,
+            total_frames=total_frames,
+            frame_skip=frame_skip,
+            optim_steps_per_batch=optim_steps_per_batch,
+            loss_module=loss_module,
+            optimizer=optimizer,
+            logger=logger,
+            clip_grad_norm=clip_grad_norm,
+            clip_norm=clip_norm,
+            progress_bar=progress_bar,
+            seed=seed,
+            save_trainer_interval=save_trainer_interval,
+            log_interval=log_interval,
+            save_trainer_file=save_trainer_file,
+            async_collection=async_collection,
+            log_timings=log_timings,
+        )
+        self.replay_buffer = replay_buffer
+        self.async_collection = async_collection
+
+        # Note: SAC can use any sampler type, unlike PPO which requires SamplerWithoutReplacement
+
+        if replay_buffer is not None:
+            rb_trainer = ReplayBufferTrainer(
+                replay_buffer,
+                batch_size=None,
+                flatten_tensordicts=True,
+                memmap=False,
+                device=getattr(replay_buffer.storage, "device", "cpu"),
+                iterate=True,
+            )
+            if not self.async_collection:
+                self.register_op("pre_epoch", rb_trainer.extend)
+            self.register_op("process_optim_batch", rb_trainer.sample)
+            self.register_op("post_loss", rb_trainer.update_priority)
+        self.register_op("post_optim", TargetNetUpdaterHook(target_net_updater))
+
+        policy_weights_getter = partial(
+            TensorDict.from_module, self.loss_module.actor_network
+        )
+        update_weights = UpdateWeights(
+            self.collector, 1, policy_weights_getter=policy_weights_getter
+        )
+        self.register_op("post_steps", update_weights)
+
+        # Store logging configuration
+        self.enable_logging = enable_logging
+        self.log_rewards = log_rewards
+        self.log_actions = log_actions
+        self.log_observations = log_observations
+
+        # Set up comprehensive logging for SAC training
+        if self.enable_logging:
+            self._setup_sac_logging()
+
+    def _pass_action_spec_from_collector_to_loss(
+        self, collector: BaseCollector, loss: LossModule
+    ):
+        """Pass the action specification from the collector's environment to the loss module.
+
+        This method extracts the action specification from the collector's environment
+        and assigns it to the loss module if the loss module doesn't already have one.
+        This is necessary for SAC loss computation which requires knowledge of the
+        action space bounds for proper entropy calculation and action clipping.
+
+        Args:
+            collector (BaseCollector): The data collector containing the environment.
+            loss (LossModule): The loss module that needs the action specification.
+        """
+        if hasattr(loss, "_action_spec") and loss._action_spec is None:
+            action_spec = collector.getattr_env("full_action_spec_unbatched").cpu()
+            loss._action_spec = action_spec
+
+    def _setup_sac_logging(self):
+        """Set up logging hooks for SAC-specific metrics.
+
+        This method configures logging for common SAC metrics including:
+        - Training rewards (mean, max, total, and std)
+        - Action statistics (action norms)
+        - Episode completion rates (done percentage)
+        - Observation statistics (when enabled)
+        - Q-value and policy loss metrics (handled by loss module)
+        """
+        # Always log done states as percentage (episode completion rate)
+        log_done_percentage = LogScalar(
+            key=("next", "done"),
+            logname="done_percentage",
+            log_pbar=True,
+            include_std=False,  # No std for binary values
+            reduction="mean",
+        )
+        if not self.async_collection:
+            self.register_op("pre_steps_log", log_done_percentage)
+        else:
+            self.register_op("post_optim_log", log_done_percentage)
+
+        # Log rewards if enabled
+        if self.log_rewards:
+            # 1. Log training rewards (most important metric for SAC)
+            log_rewards = LogScalar(
+                key=("next", "reward"),
+                logname="r_training",
+                log_pbar=True,  # Show in progress bar
+                include_std=True,
+                reduction="mean",
+            )
+            if not self.async_collection:
+                self.register_op("pre_steps_log", log_rewards)
+            else:
+                # In the async case, use the batch passed to the optimizer
+                self.register_op("post_optim_log", log_rewards)
+
+            # 2. Log maximum reward in batch (for monitoring best performance)
+            log_max_reward = LogScalar(
+                key=("next", "reward"),
+                logname="r_max",
+                log_pbar=False,
+                include_std=False,
+                reduction="max",
+            )
+            if not self.async_collection:
+                self.register_op("pre_steps_log", log_max_reward)
+            else:
+                self.register_op("post_optim_log", log_max_reward)
+
+            # 3. Log total reward in batch (for monitoring cumulative performance)
+            log_total_reward = LogScalar(
+                key=("next", "reward_sum"),
+                logname="r_total",
+                log_pbar=False,
+                include_std=False,
+                reduction="max",
+            )
+            if not self.async_collection:
+                self.register_op("pre_steps_log", log_total_reward)
+            else:
+                self.register_op("post_optim_log", log_total_reward)
+
+        # Log actions if enabled
+        if self.log_actions:
+            # 4. Log action norms (useful for monitoring policy behavior)
+            log_action_norm = LogScalar(
+                key="action",
+                logname="action_norm",
+                log_pbar=False,
+                include_std=True,
+                reduction="mean",
+            )
+            if not self.async_collection:
+                self.register_op("pre_steps_log", log_action_norm)
+            else:
+                self.register_op("post_optim_log", log_action_norm)
+
+        # Log observations if enabled
+        if self.log_observations:
+            # 5. Log observation statistics (for monitoring state distributions)
+            log_obs_norm = LogScalar(
+                key="observation",
+                logname="obs_norm",
+                log_pbar=False,
+                include_std=True,
+                reduction="mean",
+            )
+            if not self.async_collection:
+                self.register_op("pre_steps_log", log_obs_norm)
+            else:
+                self.register_op("post_optim_log", log_obs_norm)
+
+        self.register_op("pre_steps_log", UTDRHook(self))