torchrl 0.11.0__cp314-cp314t-macosx_11_0_arm64.whl

torchrl/objectives/iql.py

@@ -0,0 +1,996 @@
+# 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 warnings
+from dataclasses import dataclass
+
+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 TensorSpec
+from torchrl.data.utils import _find_action_space
+from torchrl.objectives.common import LossModule
+from torchrl.objectives.utils import (
+    _GAMMA_LMBDA_DEPREC_ERROR,
+    _pseudo_vmap,
+    _reduce,
+    _vmap_func,
+    default_value_kwargs,
+    distance_loss,
+    ValueEstimators,
+)
+from torchrl.objectives.value import (
+    TD0Estimator,
+    TD1Estimator,
+    TDLambdaEstimator,
+    ValueEstimatorBase,
+)
+
+
+class IQLLoss(LossModule):
+    r"""TorchRL implementation of the IQL loss.
+
+    Presented in "Offline Reinforcement Learning with Implicit Q-Learning" https://arxiv.org/abs/2110.06169
+
+    Args:
+        actor_network (ProbabilisticTensorDictSequential): stochastic actor
+        qvalue_network (TensorDictModule): Q(s, a) parametric model
+            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.
+
+        value_network (TensorDictModule, optional): V(s) parametric model.
+
+    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"`.
+        temperature (:obj:`float`, optional):  Inverse temperature (beta).
+            For smaller hyperparameter values, the objective behaves similarly to
+            behavioral cloning, while for larger values, it attempts to recover the
+            maximum of the Q-function.
+        expectile (:obj:`float`, optional): expectile :math:`\tau`. A larger value of :math:`\tau` is crucial
+            for antmaze tasks that require dynamical programming ("stichting").
+        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). 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.iql import IQLLoss
+        >>> 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 QValueClass(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))
+        >>> qvalue = SafeModule(
+        ...     QValueClass(),
+        ...     in_keys=["observation", "action"],
+        ...     out_keys=["state_action_value"],
+        ... )
+        >>> value = SafeModule(
+        ...     nn.Linear(n_obs, 1),
+        ...     in_keys=["observation"],
+        ...     out_keys=["state_value"],
+        ... )
+        >>> loss = IQLLoss(actor, qvalue, value)
+        >>> 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={
+                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_qvalue: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False),
+                loss_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, value, and qvalue network
+    The return value is a tuple of tensors in the following order:
+    ``["loss_actor", "loss_qvalue", "loss_value", "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.iql import IQLLoss
+        >>> _ = 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 QValueClass(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))
+        >>> qvalue = SafeModule(
+        ...     QValueClass(),
+        ...     in_keys=["observation", "action"],
+        ...     out_keys=["state_action_value"],
+        ... )
+        >>> value = SafeModule(
+        ...     nn.Linear(n_obs, 1),
+        ...     in_keys=["observation"],
+        ...     out_keys=["state_value"],
+        ... )
+        >>> loss = IQLLoss(actor, qvalue, value)
+        >>> batch = [2, ]
+        >>> action = spec.rand(batch)
+        >>> loss_actor, loss_qvalue, loss_value, entropy = 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:`IQLLoss.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:
+            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"``.
+            log_prob (NestedKey): The input tensordict key where the log probability is expected.
+                Defaults to ``"_log_prob"``.
+            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. Will be used for the underlying
+                value estimator as value key. 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"``.
+        """
+
+        value: NestedKey = "state_value"
+        action: NestedKey = "action"
+        log_prob: NestedKey = "_log_prob"
+        priority: NestedKey = "td_error"
+        state_action_value: NestedKey = "state_action_value"
+        reward: NestedKey = "reward"
+        done: NestedKey = "done"
+        terminated: NestedKey = "terminated"
+
+    tensor_keys: _AcceptedKeys
+    default_keys = _AcceptedKeys
+    default_value_estimator = ValueEstimators.TD0
+    out_keys = [
+        "loss_actor",
+        "loss_qvalue",
+        "loss_value",
+        "entropy",
+    ]
+
+    actor_network: TensorDictModule
+    actor_network_params: TensorDictParams
+    target_actor_network_params: TensorDictParams
+    qvalue_network: TensorDictModule
+    qvalue_network_params: TensorDictParams
+    target_qvalue_network_params: TensorDictParams
+    value_network: TensorDictModule | None
+    value_network_params: TensorDictParams | None
+    target_value_network_params: TensorDictParams | None
+
+    def __init__(
+        self,
+        actor_network: ProbabilisticTensorDictSequential,
+        qvalue_network: TensorDictModule | list[TensorDictModule],
+        value_network: TensorDictModule | None,
+        *,
+        num_qvalue_nets: int = 2,
+        loss_function: str = "smooth_l1",
+        temperature: float = 1.0,
+        expectile: float = 0.5,
+        gamma: float | None = None,
+        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=priority_key)
+
+        self.deactivate_vmap = deactivate_vmap
+
+        # IQL parameter
+        self.temperature = temperature
+        self.expectile = expectile
+
+        # Actor Network
+        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
+        # Value Function Network
+        self.convert_to_functional(
+            value_network,
+            "value_network",
+            create_target_params=False,
+            compare_against=policy_params,
+        )
+
+        # Q Function Network
+        self.delay_qvalue = True
+        self.num_qvalue_nets = num_qvalue_nets
+        if separate_losses and policy_params is not None:
+            qvalue_policy_params = list(actor_network.parameters()) + list(
+                value_network.parameters()
+            )
+        else:
+            qvalue_policy_params = None
+        self.convert_to_functional(
+            qvalue_network,
+            "qvalue_network",
+            num_qvalue_nets,
+            create_target_params=True,
+            compare_against=qvalue_policy_params,
+        )
+
+        self.loss_function = loss_function
+        if gamma is not None:
+            raise TypeError(_GAMMA_LMBDA_DEPREC_ERROR)
+        self._make_vmap()
+        self.reduction = reduction
+
+    def _make_vmap(self):
+        self._vmap_qvalue_networkN0 = _vmap_func(
+            self.qvalue_network,
+            (None, 0),
+            randomness=self.vmap_randomness,
+            pseudo_vmap=self.deactivate_vmap,
+        )
+
+    @property
+    def device(self) -> torch.device:
+        raise RuntimeError(
+            "The device attributes of the losses is deprecated since v0.3.",
+        )
+
+    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.value_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
+
+    @staticmethod
+    def loss_value_diff(diff, expectile=0.8):
+        """Loss function for iql expectile value difference."""
+        weight = torch.where(diff > 0, expectile, (1 - expectile))
+        return weight * (diff**2)
+
+    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()
+
+    @dispatch
+    def forward(self, tensordict: TensorDictBase) -> TensorDictBase:
+        loss_actor, metadata = self.actor_loss(tensordict)
+        loss_qvalue, metadata_qvalue = self.qvalue_loss(tensordict)
+        loss_value, metadata_value = self.value_loss(tensordict)
+        metadata.update(metadata_qvalue)
+        metadata.update(metadata_value)
+
+        if (loss_actor.shape != loss_qvalue.shape) or (
+            loss_value is not None and loss_actor.shape != loss_value.shape
+        ):
+            raise RuntimeError(
+                f"Losses shape mismatch: {loss_actor.shape}, {loss_qvalue.shape} and {loss_value.shape}"
+            )
+        tensordict.set(
+            self.tensor_keys.priority, metadata.pop("td_error").detach().max(0).values
+        )
+        entropy = -tensordict.get(self.tensor_keys.log_prob).detach()
+        out = {
+            "loss_actor": loss_actor,
+            "loss_qvalue": loss_qvalue,
+            "loss_value": loss_value,
+            "entropy": entropy.mean(),
+        }
+        td_out = TensorDict(out)
+
+        self._clear_weakrefs(
+            tensordict,
+            td_out,
+            "actor_network_params",
+            "qvalue_network_params",
+            "value_network_params",
+            "target_actor_network_params",
+            "target_qvalue_network_params",
+            "target_value_network_params",
+        )
+        return td_out
+
+    def actor_loss(self, tensordict: TensorDictBase) -> tuple[Tensor, dict]:
+        # KL loss
+        with self.actor_network_params.to_module(self.actor_network):
+            dist = self.actor_network.get_dist(tensordict)
+
+        log_prob = dist.log_prob(tensordict[self.tensor_keys.action])
+
+        # Min Q value
+        td_q = tensordict.select(*self.qvalue_network.in_keys, strict=False)
+        td_q = self._vmap_qvalue_networkN0(td_q, self.target_qvalue_network_params)
+        min_q = td_q.get(self.tensor_keys.state_action_value).min(0)[0].squeeze(-1)
+
+        if log_prob.shape != min_q.shape:
+            raise RuntimeError(
+                f"Losses shape mismatch: {log_prob.shape} and {min_q.shape}"
+            )
+        # state value
+        with torch.no_grad():
+            td_copy = tensordict.select(
+                *self.value_network.in_keys, strict=False
+            ).detach()
+            with self.value_network_params.to_module(self.value_network):
+                self.value_network(td_copy)
+            value = td_copy.get(self.tensor_keys.value).squeeze(
+                -1
+            )  # assert has no gradient
+
+        exp_a = torch.exp((min_q - value) * self.temperature)
+        exp_a = exp_a.clamp_max(100)
+
+        # write log_prob in tensordict for alpha loss
+        tensordict.set(self.tensor_keys.log_prob, log_prob.detach())
+        loss_actor = -(exp_a * log_prob)
+        loss_actor = _reduce(loss_actor, reduction=self.reduction)
+        self._clear_weakrefs(
+            tensordict,
+            "actor_network_params",
+            "qvalue_network_params",
+            "value_network_params",
+            "target_actor_network_params",
+            "target_qvalue_network_params",
+            "target_value_network_params",
+        )
+        return loss_actor, {}
+
+    def value_loss(self, tensordict: TensorDictBase) -> tuple[Tensor, dict]:
+        # Min Q value
+        td_q = tensordict.select(*self.qvalue_network.in_keys, strict=False)
+        td_q = self._vmap_qvalue_networkN0(td_q, self.target_qvalue_network_params)
+        min_q = td_q.get(self.tensor_keys.state_action_value).min(0)[0].squeeze(-1)
+        # state value
+        td_copy = tensordict.select(*self.value_network.in_keys, strict=False)
+        with self.value_network_params.to_module(self.value_network):
+            self.value_network(td_copy)
+        value = td_copy.get(self.tensor_keys.value).squeeze(-1)
+        value_loss = self.loss_value_diff(min_q - value, self.expectile)
+        value_loss = _reduce(value_loss, reduction=self.reduction)
+        self._clear_weakrefs(
+            tensordict,
+            "actor_network_params",
+            "qvalue_network_params",
+            "value_network_params",
+            "target_actor_network_params",
+            "target_qvalue_network_params",
+            "target_value_network_params",
+        )
+        return value_loss, {}
+
+    def qvalue_loss(self, tensordict: TensorDictBase) -> tuple[Tensor, dict]:
+        obs_keys = self.actor_network.in_keys
+        tensordict = tensordict.select(
+            "next", *obs_keys, self.tensor_keys.action, strict=False
+        )
+
+        target_value = self.value_estimator.value_estimate(
+            tensordict, target_params=self.target_value_network_params
+        ).squeeze(-1)
+        tensordict_expand = self._vmap_qvalue_networkN0(
+            tensordict.select(*self.qvalue_network.in_keys, strict=False),
+            self.qvalue_network_params,
+        )
+        pred_val = tensordict_expand.get(self.tensor_keys.state_action_value).squeeze(
+            -1
+        )
+        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,
+        ).sum(0)
+        loss_qval = _reduce(loss_qval, reduction=self.reduction)
+        metadata = {"td_error": td_error.detach()}
+        self._clear_weakrefs(
+            tensordict,
+            "actor_network_params",
+            "qvalue_network_params",
+            "value_network_params",
+            "target_actor_network_params",
+            "target_qvalue_network_params",
+            "target_value_network_params",
+        )
+        return loss_qval, metadata
+
+    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 = self.value_network
+
+        hp = dict(default_value_kwargs(value_type))
+        if hasattr(self, "gamma"):
+            hp["gamma"] = self.gamma
+        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 = {
+            "value_target": "value_target",
+            "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)
+
+
+class DiscreteIQLLoss(IQLLoss):
+    r"""TorchRL implementation of the discrete IQL loss.
+
+    Presented in "Offline Reinforcement Learning with Implicit Q-Learning" https://arxiv.org/abs/2110.06169
+
+    Args:
+        actor_network (ProbabilisticTensorDictSequential): stochastic actor
+        qvalue_network (TensorDictModule): Q(s, a) parametric model.
+        value_network (TensorDictModule, optional): V(s) parametric model.
+
+    Keyword Args:
+        action_space (str or TensorSpec): Action space. Must be one of
+                ``"one-hot"``, ``"mult_one_hot"``, ``"binary"`` or ``"categorical"``,
+                or an instance of the corresponding specs (:class:`torchrl.data.OneHot`,
+                :class:`torchrl.data.MultiOneHot`,
+                :class:`torchrl.data.Binary` or :class:`torchrl.data.Categorical`).
+        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"`.
+        temperature (:obj:`float`, optional):  Inverse temperature (beta).
+            For smaller hyperparameter values, the objective behaves similarly to
+            behavioral cloning, while for larger values, it attempts to recover the
+            maximum of the Q-function.
+        expectile (:obj:`float`, optional): expectile :math:`\tau`. A larger value of :math:`\tau` is crucial
+            for antmaze tasks that require dynamical programming ("stichting").
+        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). 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"``.
+
+    Examples:
+        >>> import torch
+        >>> from torch import nn
+        >>> from torchrl.data.tensor_specs import OneHot
+        >>> from torchrl.modules.distributions.discrete import OneHotCategorical
+        >>> from torchrl.modules.tensordict_module.actors import ProbabilisticActor
+        >>> from torchrl.modules.tensordict_module.common import SafeModule
+        >>> from torchrl.objectives.iql import DiscreteIQLLoss
+        >>> from tensordict import TensorDict
+        >>> n_act, n_obs = 4, 3
+        >>> spec = OneHot(n_act)
+        >>> module = SafeModule(nn.Linear(n_obs, n_act), in_keys=["observation"], out_keys=["logits"])
+        >>> actor = ProbabilisticActor(
+        ...     module=module,
+        ...     in_keys=["logits"],
+        ...     out_keys=["action"],
+        ...     spec=spec,
+        ...     distribution_class=OneHotCategorical)
+        >>> qvalue = SafeModule(
+        ...     nn.Linear(n_obs, n_act),
+        ...     in_keys=["observation"],
+        ...     out_keys=["state_action_value"],
+        ... )
+        >>> value = SafeModule(
+        ...     nn.Linear(n_obs, 1),
+        ...     in_keys=["observation"],
+        ...     out_keys=["state_value"],
+        ... )
+        >>> loss = DiscreteIQLLoss(actor, qvalue, value)
+        >>> batch = [2, ]
+        >>> action = spec.rand(batch).long()
+        >>> 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={
+                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_qvalue: Tensor(shape=torch.Size([]), device=cpu, dtype=torch.float32, is_shared=False),
+                loss_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, value, and qvalue network
+    The return value is a tuple of tensors in the following order:
+    ``["loss_actor", "loss_qvalue", "loss_value", "entropy"]``.
+
+    Examples:
+        >>> import torch
+        >>> import torch
+        >>> from torch import nn
+        >>> from torchrl.data.tensor_specs import OneHot
+        >>> from torchrl.modules.distributions.discrete import OneHotCategorical
+        >>> from torchrl.modules.tensordict_module.actors import ProbabilisticActor
+        >>> from torchrl.modules.tensordict_module.common import SafeModule
+        >>> from torchrl.objectives.iql import DiscreteIQLLoss
+        >>> _ = torch.manual_seed(42)
+        >>> n_act, n_obs = 4, 3
+        >>> spec = OneHot(n_act)
+        >>> module = SafeModule(nn.Linear(n_obs, n_act), in_keys=["observation"], out_keys=["logits"])
+        >>> actor = ProbabilisticActor(
+        ...     module=module,
+        ...     in_keys=["logits"],
+        ...     out_keys=["action"],
+        ...     spec=spec,
+        ...     distribution_class=OneHotCategorical)
+        >>> qvalue = SafeModule(
+        ...     nn.Linear(n_obs, n_act),
+        ...     in_keys=["observation"],
+        ...     out_keys=["state_action_value"],
+        ... )
+        >>> value = SafeModule(
+        ...     nn.Linear(n_obs, 1),
+        ...     in_keys=["observation"],
+        ...     out_keys=["state_value"],
+        ... )
+        >>> loss = DiscreteIQLLoss(actor, qvalue, value)
+        >>> batch = [2, ]
+        >>> action = spec.rand(batch).long()
+        >>> loss_actor, loss_qvalue, loss_value, entropy = 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:`DiscreteIQLLoss.select_out_keys`
+    method.
+
+    Examples:
+        >>> _ = loss.select_out_keys('loss_actor', 'loss_qvalue', 'loss_value')
+        >>> loss_actor, loss_qvalue, loss_value = 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:
+            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"``.
+            log_prob (NestedKey): The input tensordict key where the log probability is expected.
+                Defaults to ``"_log_prob"``.
+            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. Will be used for the underlying
+                value estimator as value key. 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"``.
+        """
+
+        value: NestedKey = "state_value"
+        action: NestedKey = "action"
+        log_prob: NestedKey = "_log_prob"
+        priority: NestedKey = "td_error"
+        state_action_value: NestedKey = "state_action_value"
+        reward: NestedKey = "reward"
+        done: NestedKey = "done"
+        terminated: NestedKey = "terminated"
+
+    tensor_keys: _AcceptedKeys
+    default_keys = _AcceptedKeys
+    default_value_estimator = ValueEstimators.TD0
+    out_keys = [
+        "loss_actor",
+        "loss_qvalue",
+        "loss_value",
+        "entropy",
+    ]
+
+    actor_network: TensorDictModule
+    actor_network_params: TensorDictParams
+    target_actor_network_params: TensorDictParams
+    qvalue_network: TensorDictModule
+    qvalue_network_params: TensorDictParams
+    target_qvalue_network_params: TensorDictParams
+    value_network: TensorDictModule | None
+    value_network_params: TensorDictParams | None
+    target_value_network_params: TensorDictParams | None
+
+    def __init__(
+        self,
+        actor_network: ProbabilisticTensorDictSequential,
+        qvalue_network: TensorDictModule,
+        value_network: TensorDictModule | None,
+        *,
+        action_space: str | TensorSpec = None,
+        num_qvalue_nets: int = 2,
+        loss_function: str = "smooth_l1",
+        temperature: float = 1.0,
+        expectile: float = 0.5,
+        gamma: float | None = None,
+        priority_key: str | None = None,
+        separate_losses: bool = False,
+        reduction: str | None = None,
+    ) -> None:
+        self._in_keys = None
+        self._out_keys = None
+        if reduction is None:
+            reduction = "mean"
+        if expectile >= 1.0:
+            raise ValueError(f"Expectile should be lower than 1.0 but is {expectile}")
+        super().__init__(
+            actor_network=actor_network,
+            qvalue_network=qvalue_network,
+            value_network=value_network,
+            num_qvalue_nets=num_qvalue_nets,
+            loss_function=loss_function,
+            temperature=temperature,
+            expectile=expectile,
+            gamma=gamma,
+            priority_key=priority_key,
+            separate_losses=separate_losses,
+        )
+        if action_space is None:
+            warnings.warn(
+                "action_space was not specified. DiscreteIQLLoss will default to 'one-hot'. "
+                "This behavior will be deprecated soon and a space will have to be passed. "
+                "Check the DiscreteIQLLoss documentation to see how to pass the action space. "
+            )
+            action_space = "one-hot"
+        self.action_space = _find_action_space(action_space)
+        self.reduction = reduction
+
+    def actor_loss(self, tensordict: TensorDictBase) -> tuple[Tensor, dict]:
+        # KL loss
+        with self.actor_network_params.to_module(self.actor_network):
+            dist = self.actor_network.get_dist(tensordict)
+
+        log_prob = dist.log_prob(tensordict[self.tensor_keys.action])
+
+        # Min Q value
+        td_q = tensordict.select(*self.qvalue_network.in_keys, strict=False)
+        td_q = self._vmap_qvalue_networkN0(td_q, self.target_qvalue_network_params)
+        state_action_value = td_q.get(self.tensor_keys.state_action_value)
+        action = tensordict.get(self.tensor_keys.action)
+        if self.action_space == "categorical":
+            if action.ndim < (state_action_value.ndim - (td_q.ndim - tensordict.ndim)):
+                # unsqueeze the action if it lacks on trailing singleton dim
+                action = action.unsqueeze(-1)
+            if self.deactivate_vmap:
+                vmap = _pseudo_vmap
+            else:
+                vmap = torch.vmap
+            chosen_state_action_value = vmap(
+                lambda state_action_value, action: torch.gather(
+                    state_action_value, -1, index=action
+                ).squeeze(-1),
+                (0, None),
+            )(state_action_value, action)
+        elif self.action_space == "one_hot":
+            action = action.to(torch.float)
+            chosen_state_action_value = (state_action_value * action).sum(-1)
+        else:
+            raise RuntimeError(f"Unknown action space {self.action_space}.")
+        min_Q, _ = torch.min(chosen_state_action_value, dim=0)
+        if log_prob.shape != min_Q.shape:
+            raise RuntimeError(
+                f"Losses shape mismatch: {log_prob.shape} and {min_Q.shape}"
+            )
+        with torch.no_grad():
+            # state value
+            td_copy = tensordict.select(
+                *self.value_network.in_keys, strict=False
+            ).detach()
+            with self.value_network_params.to_module(self.value_network):
+                self.value_network(td_copy)
+            value = td_copy.get(self.tensor_keys.value).squeeze(
+                -1
+            )  # assert has no gradient
+
+        exp_a = torch.exp((min_Q - value) * self.temperature)
+        exp_a = exp_a.clamp_max(100)
+
+        # write log_prob in tensordict for alpha loss
+        tensordict.set(self.tensor_keys.log_prob, log_prob.detach())
+        loss_actor = -(exp_a * log_prob)
+        loss_actor = _reduce(loss_actor, reduction=self.reduction)
+        self._clear_weakrefs(
+            tensordict,
+            "actor_network_params",
+            "qvalue_network_params",
+            "value_network_params",
+            "target_actor_network_params",
+            "target_qvalue_network_params",
+            "target_value_network_params",
+        )
+        return loss_actor, {}
+
+    def value_loss(self, tensordict: TensorDictBase) -> tuple[Tensor, dict]:
+        # Min Q value
+        with torch.no_grad():
+            # Min Q value
+            td_q = tensordict.select(*self.qvalue_network.in_keys, strict=False)
+            td_q = self._vmap_qvalue_networkN0(td_q, self.target_qvalue_network_params)
+            state_action_value = td_q.get(self.tensor_keys.state_action_value)
+            action = tensordict.get(self.tensor_keys.action)
+            if self.action_space == "categorical":
+                if action.ndim < (
+                    state_action_value.ndim - (td_q.ndim - tensordict.ndim)
+                ):
+                    # unsqueeze the action if it lacks on trailing singleton dim
+                    action = action.unsqueeze(-1)
+                if self.deactivate_vmap:
+                    vmap = _pseudo_vmap
+                else:
+                    vmap = torch.vmap
+                chosen_state_action_value = vmap(
+                    lambda state_action_value, action: torch.gather(
+                        state_action_value, -1, index=action
+                    ).squeeze(-1),
+                    (0, None),
+                )(state_action_value, action)
+            elif self.action_space == "one_hot":
+                action = action.to(torch.float)
+                chosen_state_action_value = (state_action_value * action).sum(-1)
+            else:
+                raise RuntimeError(f"Unknown action space {self.action_space}.")
+            min_Q, _ = torch.min(chosen_state_action_value, dim=0)
+        # state value
+        td_copy = tensordict.select(*self.value_network.in_keys, strict=False)
+        with self.value_network_params.to_module(self.value_network):
+            self.value_network(td_copy)
+        value = td_copy.get(self.tensor_keys.value).squeeze(-1)
+        value_loss = self.loss_value_diff(min_Q - value, self.expectile)
+        value_loss = _reduce(value_loss, reduction=self.reduction)
+        self._clear_weakrefs(
+            tensordict,
+            "actor_network_params",
+            "qvalue_network_params",
+            "value_network_params",
+            "target_actor_network_params",
+            "target_qvalue_network_params",
+            "target_value_network_params",
+        )
+        return value_loss, {}
+
+    def qvalue_loss(self, tensordict: TensorDictBase) -> tuple[Tensor, dict]:
+        obs_keys = self.actor_network.in_keys
+        next_td = tensordict.select(
+            "next", *obs_keys, self.tensor_keys.action, strict=False
+        )
+        with torch.no_grad():
+            target_value = self.value_estimator.value_estimate(
+                next_td, target_params=self.target_value_network_params
+            ).squeeze(-1)
+
+        # predict current Q value
+        td_q = tensordict.select(*self.qvalue_network.in_keys, strict=False)
+        td_q = self._vmap_qvalue_networkN0(td_q, self.qvalue_network_params)
+        state_action_value = td_q.get(self.tensor_keys.state_action_value)
+        action = tensordict.get(self.tensor_keys.action)
+        if self.action_space == "categorical":
+            if action.ndim < (state_action_value.ndim - (td_q.ndim - tensordict.ndim)):
+                # unsqueeze the action if it lacks on trailing singleton dim
+                action = action.unsqueeze(-1)
+            if self.deactivate_vmap:
+                vmap = _pseudo_vmap
+            else:
+                vmap = torch.vmap
+            pred_val = vmap(
+                lambda state_action_value, action: torch.gather(
+                    state_action_value, -1, index=action
+                ).squeeze(-1),
+                (0, None),
+            )(state_action_value, action)
+        elif self.action_space == "one_hot":
+            action = action.to(torch.float)
+            pred_val = (state_action_value * action).sum(-1)
+        else:
+            raise RuntimeError(f"Unknown action space {self.action_space}.")
+
+        td_error = (pred_val - target_value.expand_as(pred_val)).pow(2)
+        loss_qval = distance_loss(
+            pred_val,
+            target_value.expand_as(pred_val),
+            loss_function=self.loss_function,
+        ).sum(0)
+        loss_qval = _reduce(loss_qval, reduction=self.reduction)
+        metadata = {"td_error": td_error.detach()}
+        self._clear_weakrefs(
+            tensordict,
+            "actor_network_params",
+            "qvalue_network_params",
+            "value_network_params",
+            "target_actor_network_params",
+            "target_qvalue_network_params",
+            "target_value_network_params",
+        )
+        return loss_qval, metadata