torchrl 0.11.0__cp314-cp314t-macosx_11_0_arm64.whl

torchrl/collectors/_single.py

@@ -0,0 +1,2009 @@
+from __future__ import annotations
+
+import contextlib
+import threading
+import warnings
+import weakref
+from collections import OrderedDict
+from collections.abc import Callable, Iterator, Sequence
+from textwrap import indent
+from typing import Any
+
+import torch
+
+from tensordict import LazyStackedTensorDict, TensorDict, TensorDictBase
+from tensordict.nn import CudaGraphModule, TensorDictModule, TensorDictModuleBase
+from torch import nn
+from torchrl import compile_with_warmup
+from torchrl._utils import (
+    _ends_with,
+    _make_ordinal_device,
+    _replace_last,
+    accept_remote_rref_udf_invocation,
+    prod,
+    RL_WARNINGS,
+)
+from torchrl.collectors._base import _LegacyCollectorMeta, BaseCollector, ProfileConfig
+from torchrl.collectors._constants import (
+    cudagraph_mark_step_begin,
+    DEFAULT_EXPLORATION_TYPE,
+    ExplorationType,
+)
+from torchrl.collectors.utils import _TrajectoryPool, split_trajectories
+from torchrl.collectors.weight_update import WeightUpdaterBase
+from torchrl.data import ReplayBuffer
+from torchrl.data.utils import DEVICE_TYPING
+from torchrl.envs import EnvBase, EnvCreator, StepCounter, TransformedEnv
+from torchrl.envs.common import _do_nothing
+from torchrl.envs.llm.transforms import PolicyVersion
+from torchrl.envs.utils import (
+    _aggregate_end_of_traj,
+    _make_compatible_policy,
+    set_exploration_type,
+)
+from torchrl.modules import RandomPolicy, set_exploration_modules_spec_from_env
+from torchrl.weight_update.utils import _resolve_model
+from torchrl.weight_update.weight_sync_schemes import WeightSyncScheme
+
+
+class _CollectorProfiler:
+    """Helper class for profiling collector rollouts in single-process mode.
+
+    Manages the PyTorch profiler lifecycle for the Collector class.
+    """
+
+    def __init__(self, profile_config: ProfileConfig):
+        self.config = profile_config
+        self.rollout_count = 0
+        self._profiler = None
+        self._stopped = False
+        self._active = False
+
+        # Set up profiler schedule
+        active_rollouts = self.config.num_rollouts - self.config.warmup_rollouts
+        profiler_schedule = torch.profiler.schedule(
+            skip_first=self.config.warmup_rollouts,
+            wait=0,
+            warmup=0,
+            active=active_rollouts,
+            repeat=1,
+        )
+
+        # Get activities
+        activities = self.config.get_activities()
+        if not activities:
+            return
+
+        # Determine trace handler
+        if self.config.on_trace_ready is not None:
+            on_trace_ready = self.config.on_trace_ready
+        else:
+            save_path = self.config.get_save_path(
+                0
+            )  # Use worker_idx 0 for single-process
+            save_path.parent.mkdir(parents=True, exist_ok=True)
+
+            from torchrl import logger as torchrl_logger
+
+            def on_trace_ready(prof, save_path=save_path):
+                prof.export_chrome_trace(str(save_path))
+                torchrl_logger.info(f"Collector: Profiling trace saved to {save_path}")
+
+        self._profiler = torch.profiler.profile(
+            activities=activities,
+            schedule=profiler_schedule,
+            on_trace_ready=on_trace_ready,
+            record_shapes=self.config.record_shapes,
+            profile_memory=self.config.profile_memory,
+            with_stack=self.config.with_stack,
+            with_flops=self.config.with_flops,
+        )
+        self._active = True
+
+    def start(self) -> None:
+        """Start the profiler."""
+        from torchrl import logger as torchrl_logger
+
+        if self._profiler is not None and not self._stopped:
+            self._profiler.start()
+            torchrl_logger.info(
+                f"Collector: Profiling started. "
+                f"Will profile rollouts {self.config.warmup_rollouts} to {self.config.num_rollouts - 1}."
+            )
+
+    def step(self) -> bool:
+        """Step the profiler after a rollout.
+
+        Returns:
+            True if profiling is complete.
+        """
+        if self._profiler is None or self._stopped:
+            return False
+
+        self.rollout_count += 1
+        self._profiler.step()
+
+        # Check if profiling is complete
+        if self.rollout_count >= self.config.num_rollouts:
+            self.stop()
+            return True
+
+        return False
+
+    def stop(self) -> None:
+        """Stop the profiler and export trace."""
+        from torchrl import logger as torchrl_logger
+
+        if self._profiler is not None and not self._stopped:
+            self._profiler.stop()
+            self._stopped = True
+            torchrl_logger.info(
+                f"Collector: Profiling complete after {self.rollout_count} rollouts."
+            )
+
+    @property
+    def is_active(self) -> bool:
+        """Check if profiling is active."""
+        return self._active and not self._stopped
+
+    @contextlib.contextmanager
+    def profile_rollout(self):
+        """Context manager for profiling a single rollout."""
+        if self._profiler is not None and not self._stopped:
+            with torch.profiler.record_function("collector_rollout"):
+                yield
+        else:
+            yield
+
+
+def _cuda_sync_if_initialized():
+    """Synchronize CUDA only if it has been initialized.
+
+    This is a safe alternative to calling `torch.cuda.synchronize()` directly.
+    In forked subprocesses on machines with CUDA, calling `synchronize()` will
+    fail with "Cannot re-initialize CUDA in forked subprocess" if CUDA was
+    initialized in the parent process before fork.  By checking
+    `is_initialized()` first, we skip the sync in such cases since no CUDA
+    operations have occurred in this process.
+    """
+    if torch.cuda.is_initialized():
+        torch.cuda.synchronize()
+
+
+@accept_remote_rref_udf_invocation
+class Collector(BaseCollector):
+    """Generic data collector for RL problems. Requires an environment constructor and a policy.
+
+    Args:
+        create_env_fn (Callable or EnvBase): a callable that returns an instance of
+            :class:`~torchrl.envs.EnvBase` class, or the env itself.
+        policy (Callable): Policy to be executed in the environment.
+            Must accept :class:`tensordict.tensordict.TensorDictBase` object as input.
+            If ``None`` is provided, the policy used will be a
+            :class:`~torchrl.collectors.RandomPolicy` instance with the environment
+            ``action_spec``.
+            Accepted policies are usually subclasses of :class:`~tensordict.nn.TensorDictModuleBase`.
+            This is the recommended usage of the collector.
+            Other callables are accepted too:
+            If the policy is not a ``TensorDictModuleBase`` (e.g., a regular :class:`~torch.nn.Module`
+            instances) it will be wrapped in a `nn.Module` first.
+            Then, the collector will try to assess if these
+            modules require wrapping in a :class:`~tensordict.nn.TensorDictModule` or not.
+
+            - If the policy forward signature matches any of ``forward(self, tensordict)``,
+              ``forward(self, td)`` or ``forward(self, <anything>: TensorDictBase)`` (or
+              any typing with a single argument typed as a subclass of ``TensorDictBase``)
+              then the policy won't be wrapped in a :class:`~tensordict.nn.TensorDictModule`.
+
+            - In all other cases an attempt to wrap it will be undergone as such: ``TensorDictModule(policy, in_keys=env_obs_key, out_keys=env.action_keys)``.
+
+            .. note:: If the policy needs to be passed as a policy factory (e.g., in case it mustn't be serialized /
+                pickled directly), the ``policy_factory`` should be used instead.
+
+    Keyword Args:
+        policy_factory (Callable[[], Callable], optional): a callable that returns
+            a policy instance. This is exclusive with the `policy` argument.
+
+            .. note:: `policy_factory` comes in handy whenever the policy cannot be serialized.
+
+        frames_per_batch (int): A keyword-only argument representing the total
+            number of elements in a batch.
+        total_frames (int): A keyword-only argument representing the total
+            number of frames returned by the collector
+            during its lifespan. If the ``total_frames`` is not divisible by
+            ``frames_per_batch``, an exception is raised.
+            Endless collectors can be created by passing ``total_frames=-1``.
+            Defaults to ``-1`` (endless collector).
+        device (int, str or torch.device, optional): The generic device of the
+            collector. The ``device`` args fills any non-specified device: if
+            ``device`` is not ``None`` and any of ``storing_device``, ``policy_device`` or
+            ``env_device`` is not specified, its value will be set to ``device``.
+            Defaults to ``None`` (No default device).
+        storing_device (int, str or torch.device, optional): The device on which
+            the output :class:`~tensordict.TensorDict` will be stored.
+            If ``device`` is passed and ``storing_device`` is ``None``, it will
+            default to the value indicated by ``device``.
+            For long trajectories, it may be necessary to store the data on a different
+            device than the one where the policy and env are executed.
+            Defaults to ``None`` (the output tensordict isn't on a specific device,
+            leaf tensors sit on the device where they were created).
+        env_device (int, str or torch.device, optional): The device on which
+            the environment should be cast (or executed if that functionality is
+            supported). If not specified and the env has a non-``None`` device,
+            ``env_device`` will default to that value. If ``device`` is passed
+            and ``env_device=None``, it will default to ``device``. If the value
+            as such specified of ``env_device`` differs from ``policy_device``
+            and one of them is not ``None``, the data will be cast to ``env_device``
+            before being passed to the env (i.e., passing different devices to
+            policy and env is supported). Defaults to ``None``.
+        policy_device (int, str or torch.device, optional): The device on which
+            the policy should be cast.
+            If ``device`` is passed and ``policy_device=None``, it will default
+            to ``device``. If the value as such specified of ``policy_device``
+            differs from ``env_device`` and one of them is not ``None``,
+            the data will be cast to ``policy_device`` before being passed to
+            the policy (i.e., passing different devices to policy and env is
+            supported). Defaults to ``None``.
+        create_env_kwargs (dict, optional): Dictionary of kwargs for
+            ``create_env_fn``.
+        max_frames_per_traj (int, optional): Maximum steps per trajectory.
+            Note that a trajectory can span across multiple batches (unless
+            ``reset_at_each_iter`` is set to ``True``, see below).
+            Once a trajectory reaches ``n_steps``, the environment is reset.
+            If the environment wraps multiple environments together, the number
+            of steps is tracked for each environment independently. Negative
+            values are allowed, in which case this argument is ignored.
+            Defaults to ``None`` (i.e., no maximum number of steps).
+        init_random_frames (int, optional): Number of frames for which the
+            policy is ignored before it is called. This feature is mainly
+            intended to be used in offline/model-based settings, where a
+            batch of random trajectories can be used to initialize training.
+            If provided, it will be rounded up to the closest multiple of frames_per_batch.
+            Defaults to ``None`` (i.e. no random frames).
+        reset_at_each_iter (bool, optional): Whether environments should be reset
+            at the beginning of a batch collection.
+            Defaults to ``False``.
+        postproc (Callable, optional): A post-processing transform, such as
+            a :class:`~torchrl.envs.Transform` or a :class:`~torchrl.data.postprocs.MultiStep`
+            instance.
+
+            .. warning:: Postproc is not applied when a replay buffer is used and items are added to the buffer
+                as they are produced (`extend_buffer=False`). The recommended usage is to use `extend_buffer=True`.
+
+            Defaults to ``None``.
+        split_trajs (bool, optional): Boolean indicating whether the resulting
+            TensorDict should be split according to the trajectories.
+            See :func:`~torchrl.collectors.utils.split_trajectories` for more
+            information.
+            Defaults to ``False``.
+        exploration_type (ExplorationType, optional): interaction mode to be used when
+            collecting data. Must be one of ``torchrl.envs.utils.ExplorationType.DETERMINISTIC``,
+            ``torchrl.envs.utils.ExplorationType.RANDOM``, ``torchrl.envs.utils.ExplorationType.MODE``
+            or ``torchrl.envs.utils.ExplorationType.MEAN``.
+        return_same_td (bool, optional): if ``True``, the same TensorDict
+            will be returned at each iteration, with its values
+            updated. This feature should be used cautiously: if the same
+            tensordict is added to a replay buffer for instance,
+            the whole content of the buffer will be identical.
+            Default is ``False``.
+        interruptor (_Interruptor, optional):
+            An _Interruptor object that can be used from outside the class to control rollout collection.
+            The _Interruptor class has methods ´start_collection´ and ´stop_collection´, which allow to implement
+            strategies such as preeptively stopping rollout collection.
+            Default is ``False``.
+        set_truncated (bool, optional): if ``True``, the truncated signals (and corresponding
+            ``"done"`` but not ``"terminated"``) will be set to ``True`` when the last frame of
+            a rollout is reached. If no ``"truncated"`` key is found, an exception is raised.
+            Truncated keys can be set through ``env.add_truncated_keys``.
+            Defaults to ``False``.
+        use_buffers (bool, optional): if ``True``, a buffer will be used to stack the data.
+            This isn't compatible with environments with dynamic specs. Defaults to ``True``
+            for envs without dynamic specs, ``False`` for others.
+        replay_buffer (ReplayBuffer, optional): if provided, the collector will not yield tensordicts
+            but populate the buffer instead.
+            Defaults to ``None``.
+
+            .. seealso:: By default (``extend_buffer=True``), the buffer is extended with entire rollouts.
+                If the buffer needs to be populated with individual frames as they are collected,
+                set ``extend_buffer=False`` (deprecated).
+
+            .. warning:: Using a replay buffer with a `postproc` or `split_trajs=True` requires
+                `extend_buffer=True`, as the whole batch needs to be observed to apply these transforms.
+
+        extend_buffer (bool, optional): if `True`, the replay buffer is extended with entire rollouts and not
+            with single steps. Defaults to `True`.
+
+            .. note:: Setting this to `False` is deprecated and will be removed in a future version.
+                Extending the buffer with entire rollouts is the recommended approach for better
+                compatibility with postprocessing and trajectory splitting.
+        trust_policy (bool, optional): if ``True``, a non-TensorDictModule policy will be trusted to be
+            assumed to be compatible with the collector. This defaults to ``True`` for CudaGraphModules
+            and ``False`` otherwise.
+        compile_policy (bool or Dict[str, Any], optional): if ``True``, the policy will be compiled
+            using :func:`~torch.compile` default behaviour. If a dictionary of kwargs is passed, it
+            will be used to compile the policy.
+        cudagraph_policy (bool or Dict[str, Any], optional): if ``True``, the policy will be wrapped
+            in :class:`~tensordict.nn.CudaGraphModule` with default kwargs.
+            If a dictionary of kwargs is passed, it will be used to wrap the policy.
+        no_cuda_sync (bool): if ``True``, explicit CUDA synchronizations calls will be bypassed.
+            For environments running directly on CUDA (`IsaacLab <https://github.com/isaac-sim/IsaacLab/>`_
+            or `ManiSkills <https://github.com/haosulab/ManiSkill/>`_) cuda synchronization may cause unexpected
+            crashes.
+            Defaults to ``False``.
+        weight_updater (WeightUpdaterBase or constructor, optional): An instance of :class:`~torchrl.collectors.WeightUpdaterBase`
+            or its subclass, responsible for updating the policy weights on remote inference workers.
+            This is typically not used in :class:`~torchrl.collectors.Collector` as it operates in a single-process environment.
+            Consider using a constructor if the updater needs to be serialized.
+        weight_sync_schemes (dict[str, WeightSyncScheme], optional): **Not supported for Collector**.
+            Collector is a leaf collector and cannot send weights to sub-collectors.
+            Providing this parameter will raise a ValueError.
+            Use ``weight_recv_schemes`` if you need to receive weights from a parent collector.
+        weight_recv_schemes (dict[str, WeightSyncScheme], optional): Dictionary of weight sync schemes for
+            RECEIVING weights from parent collectors. Keys are model identifiers (e.g., "policy")
+            and values are WeightSyncScheme instances configured to receive weights.
+            This enables cascading weight updates in hierarchies like:
+            RPCDataCollector -> MultiSyncCollector -> Collector.
+            Defaults to ``None``.
+        track_policy_version (bool or PolicyVersion, optional): if ``True``, the collector will track the version of the policy.
+            This will be mediated by the :class:`~torchrl.envs.llm.transforms.policy_version.PolicyVersion` transform, which will be added to the environment.
+            Alternatively, a :class:`~torchrl.envs.llm.transforms.policy_version.PolicyVersion` instance can be passed, which will be used to track
+            the policy version.
+            Defaults to `False`.
+
+    Examples:
+        >>> from torchrl.envs.libs.gym import GymEnv
+        >>> from tensordict.nn import TensorDictModule
+        >>> from torch import nn
+        >>> env_maker = lambda: GymEnv("Pendulum-v1", device="cpu")
+        >>> policy = TensorDictModule(nn.Linear(3, 1), in_keys=["observation"], out_keys=["action"])
+        >>> collector = Collector(
+        ...     create_env_fn=env_maker,
+        ...     policy=policy,
+        ...     total_frames=2000,
+        ...     max_frames_per_traj=50,
+        ...     frames_per_batch=200,
+        ...     init_random_frames=-1,
+        ...     reset_at_each_iter=False,
+        ...     device="cpu",
+        ...     storing_device="cpu",
+        ... )
+        >>> for i, data in enumerate(collector):
+        ...     if i == 2:
+        ...         print(data)
+        ...         break
+        TensorDict(
+            fields={
+                action: Tensor(shape=torch.Size([200, 1]), device=cpu, dtype=torch.float32, is_shared=False),
+                collector: TensorDict(
+                    fields={
+                        traj_ids: Tensor(shape=torch.Size([200]), device=cpu, dtype=torch.int64, is_shared=False)},
+                    batch_size=torch.Size([200]),
+                    device=cpu,
+                    is_shared=False),
+                done: Tensor(shape=torch.Size([200, 1]), device=cpu, dtype=torch.bool, is_shared=False),
+                next: TensorDict(
+                    fields={
+                        done: Tensor(shape=torch.Size([200, 1]), device=cpu, dtype=torch.bool, is_shared=False),
+                        observation: Tensor(shape=torch.Size([200, 3]), device=cpu, dtype=torch.float32, is_shared=False),
+                        reward: Tensor(shape=torch.Size([200, 1]), device=cpu, dtype=torch.float32, is_shared=False),
+                        step_count: Tensor(shape=torch.Size([200, 1]), device=cpu, dtype=torch.int64, is_shared=False),
+                        truncated: Tensor(shape=torch.Size([200, 1]), device=cpu, dtype=torch.bool, is_shared=False)},
+                    batch_size=torch.Size([200]),
+                    device=cpu,
+                    is_shared=False),
+                observation: Tensor(shape=torch.Size([200, 3]), device=cpu, dtype=torch.float32, is_shared=False),
+                step_count: Tensor(shape=torch.Size([200, 1]), device=cpu, dtype=torch.int64, is_shared=False),
+                truncated: Tensor(shape=torch.Size([200, 1]), device=cpu, dtype=torch.bool, is_shared=False)},
+            batch_size=torch.Size([200]),
+            device=cpu,
+            is_shared=False)
+        >>> del collector
+
+    The collector delivers batches of data that are marked with a ``"time"``
+    dimension.
+
+    Examples:
+        >>> assert data.names[-1] == "time"
+
+    """
+
+    _ignore_rb: bool = False
+
+    def __init__(
+        self,
+        create_env_fn: (
+            EnvBase | EnvCreator | Sequence[Callable[[], EnvBase]]  # noqa: F821
+        ),  # noqa: F821
+        policy: None
+        | (TensorDictModule | Callable[[TensorDictBase], TensorDictBase]) = None,
+        *,
+        policy_factory: Callable[[], Callable] | None = None,
+        frames_per_batch: int,
+        total_frames: int = -1,
+        device: DEVICE_TYPING | None = None,
+        storing_device: DEVICE_TYPING | None = None,
+        policy_device: DEVICE_TYPING | None = None,
+        env_device: DEVICE_TYPING | None = None,
+        create_env_kwargs: dict[str, Any] | None = None,
+        max_frames_per_traj: int | None = None,
+        init_random_frames: int | None = None,
+        reset_at_each_iter: bool = False,
+        postproc: Callable[[TensorDictBase], TensorDictBase] | None = None,
+        split_trajs: bool | None = None,
+        exploration_type: ExplorationType = DEFAULT_EXPLORATION_TYPE,
+        return_same_td: bool = False,
+        reset_when_done: bool = True,
+        interruptor=None,
+        set_truncated: bool = False,
+        use_buffers: bool | None = None,
+        replay_buffer: ReplayBuffer | None = None,
+        extend_buffer: bool = True,
+        local_init_rb: bool | None = None,
+        trust_policy: bool | None = None,
+        compile_policy: bool | dict[str, Any] | None = None,
+        cudagraph_policy: bool | dict[str, Any] | None = None,
+        no_cuda_sync: bool = False,
+        weight_updater: WeightUpdaterBase
+        | Callable[[], WeightUpdaterBase]
+        | None = None,
+        weight_sync_schemes: dict[str, WeightSyncScheme] | None = None,
+        weight_recv_schemes: dict[str, WeightSyncScheme] | None = None,
+        track_policy_version: bool = False,
+        worker_idx: int | None = None,
+        **kwargs,
+    ):
+        self.closed = True
+        self.worker_idx = worker_idx
+
+        # Note: weight_sync_schemes can be used to send weights to components
+        # within the environment (e.g., RayModuleTransform), not just sub-collectors
+
+        # Initialize environment
+        env = self._init_env(create_env_fn, create_env_kwargs)
+
+        # Initialize policy
+        policy = self._init_policy(policy, policy_factory, env, trust_policy)
+        self._read_compile_kwargs(compile_policy, cudagraph_policy)
+
+        # Handle trajectory pool and validate kwargs
+        self._traj_pool_val = kwargs.pop("traj_pool", None)
+        if kwargs:
+            raise TypeError(
+                f"Keys {list(kwargs.keys())} are unknown to {type(self).__name__}."
+            )
+
+        # Set up devices and synchronization
+        self._setup_devices(
+            device=device,
+            storing_device=storing_device,
+            policy_device=policy_device,
+            env_device=env_device,
+            no_cuda_sync=no_cuda_sync,
+        )
+
+        self.env: EnvBase = env
+        del env
+
+        # Set up policy version tracking
+        self._setup_policy_version_tracking(track_policy_version)
+
+        # Set up replay buffer
+        self._setup_replay_buffer(
+            replay_buffer=replay_buffer,
+            extend_buffer=extend_buffer,
+            local_init_rb=local_init_rb,
+            postproc=postproc,
+            split_trajs=split_trajs,
+            return_same_td=return_same_td,
+            use_buffers=use_buffers,
+        )
+
+        self.closed = False
+
+        # Validate reset_when_done
+        if not reset_when_done:
+            raise ValueError("reset_when_done is deprecated.")
+        self.reset_when_done = reset_when_done
+        self.n_env = self.env.batch_size.numel()
+
+        # Register collector with policy and env
+        if hasattr(policy, "register_collector"):
+            policy.register_collector(self)
+        if hasattr(self.env, "register_collector"):
+            self.env.register_collector(self)
+
+        # Set up policy and weights
+        self._setup_policy_and_weights(policy)
+
+        # Apply environment device
+        self._apply_env_device()
+
+        # Set up max frames per trajectory
+        self._setup_max_frames_per_traj(max_frames_per_traj)
+
+        # Validate and set total frames
+        self.reset_at_each_iter = reset_at_each_iter
+        self._setup_total_frames(total_frames, frames_per_batch)
+
+        # Set up init random frames
+        self._setup_init_random_frames(init_random_frames, frames_per_batch)
+
+        # Set up postproc
+        self._setup_postproc(postproc)
+
+        # Calculate frames per batch
+        self._setup_frames_per_batch(frames_per_batch)
+
+        # Set exploration and other options
+        self.exploration_type = (
+            exploration_type if exploration_type else DEFAULT_EXPLORATION_TYPE
+        )
+        self.return_same_td = return_same_td
+        self.set_truncated = set_truncated
+
+        # Create shuttle and rollout buffers
+        self._make_shuttle()
+        self._maybe_make_final_rollout(make_rollout=self._use_buffers)
+        self._set_truncated_keys()
+
+        # Set split trajectories option
+        if split_trajs is None:
+            split_trajs = False
+        self.split_trajs = split_trajs
+        self._exclude_private_keys = True
+
+        # Set up interruptor and frame tracking
+        self.interruptor = interruptor
+        self._frames = 0
+        self._iter = -1
+
+        # Set up weight synchronization
+        self._setup_weight_sync(weight_updater, weight_sync_schemes)
+
+        # Set up weight receivers if provided
+        if weight_recv_schemes is not None:
+            self.register_scheme_receiver(weight_recv_schemes)
+
+    def _init_env(
+        self,
+        create_env_fn: EnvBase | EnvCreator | Callable[[], EnvBase],
+        create_env_kwargs: dict[str, Any] | None,
+    ) -> EnvBase:
+        """Initialize and configure the environment."""
+        from torchrl.envs.batched_envs import BatchedEnvBase
+
+        if create_env_kwargs is None:
+            create_env_kwargs = {}
+
+        if not isinstance(create_env_fn, EnvBase):
+            env = create_env_fn(**create_env_kwargs)
+        else:
+            env = create_env_fn
+            if create_env_kwargs:
+                if not isinstance(env, BatchedEnvBase):
+                    raise RuntimeError(
+                        "kwargs were passed to Collector but they can't be set "
+                        f"on environment of type {type(create_env_fn)}."
+                    )
+                env.update_kwargs(create_env_kwargs)
+        return env
+
+    def _init_policy(
+        self,
+        policy: TensorDictModule | Callable | None,
+        policy_factory: Callable[[], Callable] | None,
+        env: EnvBase,
+        trust_policy: bool | None,
+    ) -> TensorDictModule | Callable:
+        """Initialize and configure the policy before device placement / wrapping."""
+        if policy is None:
+            if policy_factory is not None:
+                policy = policy_factory()
+            else:
+                policy = RandomPolicy(env.full_action_spec)
+        elif policy_factory is not None:
+            raise TypeError("policy_factory cannot be used with policy argument.")
+
+        if trust_policy is None:
+            trust_policy = isinstance(policy, (RandomPolicy, CudaGraphModule))
+        self.trust_policy = trust_policy
+
+        return policy
+
+    def _setup_devices(
+        self,
+        device: DEVICE_TYPING | None,
+        storing_device: DEVICE_TYPING | None,
+        policy_device: DEVICE_TYPING | None,
+        env_device: DEVICE_TYPING | None,
+        no_cuda_sync: bool,
+    ) -> None:
+        """Set up devices and synchronization functions."""
+        storing_device, policy_device, env_device = self._get_devices(
+            storing_device=storing_device,
+            policy_device=policy_device,
+            env_device=env_device,
+            device=device,
+        )
+
+        self.storing_device = storing_device
+        self._sync_storage = self._get_sync_fn(storing_device)
+
+        self.env_device = env_device
+        self._sync_env = self._get_sync_fn(env_device)
+
+        self.policy_device = policy_device
+        self._sync_policy = self._get_sync_fn(policy_device)
+
+        self.device = device
+        self.no_cuda_sync = no_cuda_sync
+        self._cast_to_policy_device = self.policy_device != self.env_device
+
+    def _get_sync_fn(self, device: torch.device | None) -> Callable:
+        """Get the appropriate synchronization function for a device."""
+        if device is not None and device.type != "cuda":
+            # When destination is not CUDA, we may need to sync to wait for
+            # async GPU→CPU transfers to complete before proceeding.
+            if torch.cuda.is_available():
+                # Return a safe wrapper that only syncs if CUDA was actually
+                # initialized.  This avoids "Cannot re-initialize CUDA in forked
+                # subprocess" errors when using fork start method on GPU machines
+                # with CPU-only collectors.
+                return _cuda_sync_if_initialized
+            elif torch.backends.mps.is_available() and hasattr(torch, "mps"):
+                return torch.mps.synchronize
+            elif hasattr(torch, "npu") and torch.npu.is_available():
+                return torch.npu.synchronize
+            elif device.type == "cpu":
+                return _do_nothing
+            else:
+                raise RuntimeError("Non supported device")
+        else:
+            return _do_nothing
+
+    def _setup_policy_version_tracking(
+        self, track_policy_version: bool | PolicyVersion
+    ) -> None:
+        """Set up policy version tracking if requested."""
+        self.policy_version_tracker = track_policy_version
+        if isinstance(track_policy_version, bool) and track_policy_version:
+            from torchrl.envs.batched_envs import BatchedEnvBase
+
+            if isinstance(self.env, BatchedEnvBase):
+                raise RuntimeError(
+                    "BatchedEnvBase is not supported for policy version tracking. Please add the PolicyVersion transform to the environment manually, "
+                    "and pass that transform to the collector."
+                )
+            self.policy_version_tracker = PolicyVersion()
+            self.env = self.env.append_transform(self.policy_version_tracker)  # type: ignore
+        elif hasattr(track_policy_version, "increment_version"):
+            self.policy_version_tracker = track_policy_version
+            self.env = self.env.append_transform(self.policy_version_tracker)  # type: ignore
+        else:
+            self.policy_version_tracker = None
+
+    def _setup_replay_buffer(
+        self,
+        replay_buffer: ReplayBuffer | None,
+        extend_buffer: bool,
+        local_init_rb: bool | None,
+        postproc: Callable | None,
+        split_trajs: bool | None,
+        return_same_td: bool,
+        use_buffers: bool | None,
+    ) -> None:
+        """Set up replay buffer configuration and validate compatibility."""
+        self.replay_buffer = replay_buffer
+        self.extend_buffer = extend_buffer
+
+        # Handle local_init_rb deprecation
+        if local_init_rb is None:
+            local_init_rb = False
+            if replay_buffer is not None and not local_init_rb:
+                warnings.warn(
+                    "local_init_rb=False is deprecated and will be removed in v0.12. "
+                    "The new storage-level initialization provides better performance.",
+                    FutureWarning,
+                )
+        self.local_init_rb = local_init_rb
+
+        # Validate replay buffer compatibility
+        if self.replay_buffer is not None and not self._ignore_rb:
+            if postproc is not None and not self.extend_buffer:
+                raise TypeError(
+                    "postproc must be None when a replay buffer is passed, or extend_buffer must be set to True."
+                )
+            if split_trajs not in (None, False) and not self.extend_buffer:
+                raise TypeError(
+                    "split_trajs must be None/False when a replay buffer is passed, or extend_buffer must be set to True."
+                )
+            if return_same_td:
+                raise TypeError(
+                    "return_same_td must be False when a replay buffer is passed, or extend_buffer must be set to True."
+                )
+            if use_buffers:
+                raise TypeError("replay_buffer is exclusive with use_buffers.")
+
+        if use_buffers is None:
+            use_buffers = not self.env._has_dynamic_specs and self.replay_buffer is None
+        self._use_buffers = use_buffers
+
+    def _setup_policy_and_weights(self, policy: TensorDictModule | Callable) -> None:
+        """Set up policy, wrapped policy, and extract weights."""
+        # Store weak reference to original policy before any transformations
+        # This allows update_policy_weights_ to sync from the original when no scheme is configured
+        if isinstance(policy, nn.Module):
+            self._orig_policy_ref = weakref.ref(policy)
+        else:
+            self._orig_policy_ref = None
+
+        # Check if policy has meta-device parameters (sent from weight sync schemes)
+        # In that case, skip device placement - weights will come from the receiver
+        has_meta_params = False
+        if isinstance(policy, nn.Module):
+            for p in policy.parameters():
+                if p.device.type == "meta":
+                    has_meta_params = True
+                    break
+
+        if has_meta_params:
+            # Policy has meta params - sent from weight sync schemes
+            # Skip device placement, weights will come from receiver
+            # Keep policy on meta device until weights are loaded
+            if not self.trust_policy:
+                self.policy = policy
+                env = getattr(self, "env", None)
+                try:
+                    wrapped_policy = _make_compatible_policy(
+                        policy=policy,
+                        observation_spec=getattr(env, "observation_spec", None),
+                        env=self.env,
+                    )
+                except (TypeError, AttributeError, ValueError) as err:
+                    raise TypeError(
+                        "Failed to wrap the policy. If the policy needs to be trusted, set trust_policy=True. Scroll up for more details."
+                    ) from err
+                self._wrapped_policy = wrapped_policy
+            else:
+                self.policy = self._wrapped_policy = policy
+
+            # Auto-configure exploration modules if needed (e.g. spec=None)
+            if isinstance(self.policy, nn.Module):
+                set_exploration_modules_spec_from_env(self.policy, self.env)
+
+            # For meta-parameter policies, keep the internal (worker-side) policy
+            # as the reference for collector state_dict / load_state_dict.
+            if isinstance(self.policy, nn.Module):
+                self._policy_w_state_dict = self.policy
+
+            # Don't extract weights yet - they're on meta device (empty)
+            self.policy_weights = TensorDict()
+            self.get_weights_fn = None
+        else:
+            # Normal path: move policy to correct device
+            policy, self.get_weights_fn = self._get_policy_and_device(policy=policy)
+
+            if not self.trust_policy:
+                self.policy = policy
+                env = getattr(self, "env", None)
+                try:
+                    wrapped_policy = _make_compatible_policy(
+                        policy=policy,
+                        observation_spec=getattr(env, "observation_spec", None),
+                        env=self.env,
+                    )
+                except (TypeError, AttributeError, ValueError) as err:
+                    raise TypeError(
+                        "Failed to wrap the policy. If the policy needs to be trusted, set trust_policy=True. Scroll up for more details."
+                    ) from err
+                self._wrapped_policy = wrapped_policy
+            else:
+                self.policy = self._wrapped_policy = policy
+
+            # Auto-configure exploration modules if needed (e.g. spec=None)
+            if isinstance(self.policy, nn.Module):
+                set_exploration_modules_spec_from_env(self.policy, self.env)
+
+            # Use the internal, unwrapped policy (cast to the correct device) as the
+            # reference for state_dict / load_state_dict and legacy weight extractors.
+            if isinstance(self.policy, nn.Module):
+                self._policy_w_state_dict = self.policy
+
+            # Extract policy weights from the uncompiled wrapped policy
+            # Access _wrapped_policy_uncompiled directly to avoid triggering compilation.
+            if isinstance(self._wrapped_policy_uncompiled, nn.Module):
+                self.policy_weights = TensorDict.from_module(
+                    self._wrapped_policy_uncompiled, as_module=True
+                ).data
+            else:
+                self.policy_weights = TensorDict()
+
+        # If policy doesn't have meta params, compile immediately
+        # Otherwise, defer until first use (after weights are loaded)
+        if not has_meta_params and (self.compiled_policy or self.cudagraphed_policy):
+            self._wrapped_policy_maybe_compiled = self._compile_wrapped_policy(
+                self._wrapped_policy_uncompiled
+            )
+
+    def _compile_wrapped_policy(self, policy):
+        """Apply compilation and/or cudagraph to a policy."""
+        if self.compiled_policy:
+            policy = compile_with_warmup(policy, **self.compiled_policy_kwargs)
+        if self.cudagraphed_policy:
+            policy = CudaGraphModule(
+                policy,
+                in_keys=[],
+                out_keys=[],
+                device=self.policy_device,
+                **self.cudagraphed_policy_kwargs,
+            )
+        return policy
+
+    @property
+    def _wrapped_policy(self):
+        """Returns the compiled policy, compiling it lazily if needed."""
+        if (policy := self._wrapped_policy_maybe_compiled) is None:
+            if self.compiled_policy or self.cudagraphed_policy:
+                policy = (
+                    self._wrapped_policy_maybe_compiled
+                ) = self._compile_wrapped_policy(self._wrapped_policy_uncompiled)
+            else:
+                policy = (
+                    self._wrapped_policy_maybe_compiled
+                ) = self._wrapped_policy_uncompiled
+        return policy
+
+    @property
+    def _orig_policy(self):
+        """Returns the original policy passed to the collector, if still alive."""
+        if self._orig_policy_ref is not None:
+            return self._orig_policy_ref()
+        return None
+
+    @_wrapped_policy.setter
+    def _wrapped_policy(self, value):
+        """Allow setting the wrapped policy during initialization."""
+        self._wrapped_policy_uncompiled = value
+        self._wrapped_policy_maybe_compiled = None
+
+    def _apply_env_device(self) -> None:
+        """Apply device to environment if specified."""
+        if self.env_device:
+            self.env: EnvBase = self.env.to(self.env_device)
+        elif self.env.device is not None:
+            # Use the device of the env if none was provided
+            self.env_device = self.env.device
+
+        # Check if we need to cast to env device
+        self._cast_to_env_device = self._cast_to_policy_device or (
+            self.env.device != self.storing_device
+        )
+
+    def _setup_max_frames_per_traj(self, max_frames_per_traj: int | None) -> None:
+        """Set up maximum frames per trajectory and add StepCounter if needed."""
+        self.max_frames_per_traj = (
+            int(max_frames_per_traj) if max_frames_per_traj is not None else 0
+        )
+        if self.max_frames_per_traj is not None and self.max_frames_per_traj > 0:
+            # Check that there is no StepCounter yet
+            for key in self.env.output_spec.keys(True, True):
+                if isinstance(key, str):
+                    key = (key,)
+                if "step_count" in key:
+                    raise ValueError(
+                        "A 'step_count' key is already present in the environment "
+                        "and the 'max_frames_per_traj' argument may conflict with "
+                        "a 'StepCounter' that has already been set. "
+                        "Possible solutions: Set max_frames_per_traj to 0 or "
+                        "remove the StepCounter limit from the environment transforms."
+                    )
+            self.env = TransformedEnv(
+                self.env, StepCounter(max_steps=self.max_frames_per_traj)
+            )
+
+    def _setup_total_frames(self, total_frames: int, frames_per_batch: int) -> None:
+        """Validate and set total frames."""
+        if total_frames is None or total_frames < 0:
+            total_frames = float("inf")
+        else:
+            remainder = total_frames % frames_per_batch
+            if remainder != 0 and RL_WARNINGS:
+                warnings.warn(
+                    f"total_frames ({total_frames}) is not exactly divisible by frames_per_batch ({frames_per_batch}). "
+                    f"This means {frames_per_batch - remainder} additional frames will be collected."
+                    "To silence this message, set the environment variable RL_WARNINGS to False."
+                )
+        self.total_frames = (
+            int(total_frames) if total_frames != float("inf") else total_frames
+        )
+
+    def _setup_init_random_frames(
+        self, init_random_frames: int | None, frames_per_batch: int
+    ) -> None:
+        """Set up initial random frames."""
+        self.init_random_frames = (
+            int(init_random_frames) if init_random_frames not in (None, -1) else 0
+        )
+        if (
+            init_random_frames not in (-1, None, 0)
+            and init_random_frames % frames_per_batch != 0
+            and RL_WARNINGS
+        ):
+            warnings.warn(
+                f"init_random_frames ({init_random_frames}) is not exactly a multiple of frames_per_batch ({frames_per_batch}), "
+                f" this results in more init_random_frames than requested"
+                f" ({-(-init_random_frames // frames_per_batch) * frames_per_batch})."
+                "To silence this message, set the environment variable RL_WARNINGS to False."
+            )
+
+    def _setup_postproc(self, postproc: Callable | None) -> None:
+        """Set up post-processing transform."""
+        self.postproc = postproc
+        if (
+            self.postproc is not None
+            and hasattr(self.postproc, "to")
+            and self.storing_device
+        ):
+            postproc = self.postproc.to(self.storing_device)
+            if postproc is not self.postproc and postproc is not None:
+                self.postproc = postproc
+
+    def _setup_frames_per_batch(self, frames_per_batch: int) -> None:
+        """Calculate and validate frames per batch."""
+        if frames_per_batch % self.n_env != 0 and RL_WARNINGS:
+            warnings.warn(
+                f"frames_per_batch ({frames_per_batch}) is not exactly divisible by the number of batched environments ({self.n_env}), "
+                f" this results in more frames_per_batch per iteration that requested"
+                f" ({-(-frames_per_batch // self.n_env) * self.n_env}). "
+                "To silence this message, set the environment variable RL_WARNINGS to False."
+            )
+        self.frames_per_batch = -(-frames_per_batch // self.n_env)
+        self.requested_frames_per_batch = self.frames_per_batch * self.n_env
+
+    def _setup_weight_sync(
+        self,
+        weight_updater: WeightUpdaterBase | Callable | None,
+        weight_sync_schemes: dict[str, WeightSyncScheme] | None,
+    ) -> None:
+        """Set up weight synchronization system."""
+        if weight_sync_schemes is not None:
+            # Use new simplified weight synchronization system
+            self._weight_sync_schemes = weight_sync_schemes
+            # Initialize and synchronize schemes that need sender-side setup
+            # (e.g., RayModuleTransformScheme for updating transforms in the env)
+            for model_id, scheme in weight_sync_schemes.items():
+                if not scheme.initialized_on_sender:
+                    scheme.init_on_sender(model_id=model_id, context=self)
+                if not scheme.synchronized_on_sender:
+                    scheme.connect()
+            self.weight_updater = None  # Don't use legacy system
+        elif weight_updater is not None:
+            # Use legacy weight updater system if explicitly provided
+            if not isinstance(weight_updater, WeightUpdaterBase):
+                if callable(weight_updater):
+                    weight_updater = weight_updater()
+                else:
+                    raise TypeError(
+                        f"weight_updater must be a subclass of WeightUpdaterBase. Got {type(weight_updater)} instead."
+                    )
+            warnings.warn(
+                "Using WeightUpdaterBase is deprecated. Please use weight_sync_schemes instead. "
+                "This will be removed in a future version.",
+                DeprecationWarning,
+                stacklevel=2,
+            )
+            self.weight_updater = weight_updater
+            self._weight_sync_schemes = None
+        else:
+            # No weight sync needed for single-process collectors
+            self.weight_updater = None
+            self._weight_sync_schemes = None
+
+    @property
+    def _traj_pool(self):
+        pool = getattr(self, "_traj_pool_val", None)
+        if pool is None:
+            pool = self._traj_pool_val = _TrajectoryPool()
+        return pool
+
+    def _make_shuttle(self):
+        # Shuttle is a deviceless tensordict that just carried data from env to policy and policy to env
+        with torch.no_grad():
+            self._carrier = self.env.reset()
+        if self.policy_device != self.env_device or self.env_device is None:
+            self._shuttle_has_no_device = True
+            self._carrier.clear_device_()
+        else:
+            self._shuttle_has_no_device = False
+
+        traj_ids = self._traj_pool.get_traj_and_increment(
+            self.n_env, device=self.storing_device
+        ).view(self.env.batch_size)
+        self._carrier.set(
+            ("collector", "traj_ids"),
+            traj_ids,
+        )
+
+    def _maybe_make_final_rollout(self, make_rollout: bool):
+        if make_rollout:
+            with torch.no_grad():
+                self._final_rollout = self.env.fake_tensordict()
+
+            # If storing device is not None, we use this to cast the storage.
+            # If it is None and the env and policy are on the same device,
+            # the storing device is already the same as those, so we don't need
+            # to consider this use case.
+            # In all other cases, we can't really put a device on the storage,
+            # since at least one data source has a device that is not clear.
+            if self.storing_device:
+                self._final_rollout = self._final_rollout.to(
+                    self.storing_device, non_blocking=True
+                )
+            else:
+                # erase all devices
+                self._final_rollout.clear_device_()
+
+        # Check if policy has meta-device parameters (not yet initialized)
+        has_meta_params = False
+        if hasattr(self, "_wrapped_policy_uncompiled") and isinstance(
+            self._wrapped_policy_uncompiled, nn.Module
+        ):
+            for p in self._wrapped_policy_uncompiled.parameters():
+                if p.device.type == "meta":
+                    has_meta_params = True
+                    break
+
+        # If the policy has a valid spec, we use it
+        self._policy_output_keys = set()
+        _policy_to_check = (
+            self._wrapped_policy_uncompiled if has_meta_params else self._wrapped_policy
+        )
+        _has_spec = hasattr(_policy_to_check, "spec")
+        _spec_not_none = False
+        _all_values_not_none = False
+        if _has_spec:
+            _spec = _policy_to_check.spec
+            _spec_not_none = _spec is not None
+            if _spec_not_none:
+                _all_values_not_none = all(
+                    v is not None for v in _spec.values(True, True)
+                )
+        _condition = (
+            make_rollout and _has_spec and _spec_not_none and _all_values_not_none
+        )
+        if _condition:
+            if any(
+                key not in self._final_rollout.keys(isinstance(key, tuple))
+                for key in (
+                    self._wrapped_policy_uncompiled
+                    if has_meta_params
+                    else self._wrapped_policy
+                ).spec.keys(True, True)
+            ):
+                # if policy spec is non-empty, all the values are not None and the keys
+                # match the out_keys we assume the user has given all relevant information
+                # the policy could have more keys than the env:
+                policy_spec = (
+                    self._wrapped_policy_uncompiled
+                    if has_meta_params
+                    else self._wrapped_policy
+                ).spec
+                if policy_spec.ndim < self._final_rollout.ndim:
+                    policy_spec = policy_spec.expand(self._final_rollout.shape)
+                for key, spec in policy_spec.items(True, True):
+                    self._policy_output_keys.add(key)
+                    if key in self._final_rollout.keys(True):
+                        continue
+                    self._final_rollout.set(key, spec.zero())
+        elif (
+            not make_rollout
+            and hasattr(
+                self._wrapped_policy_uncompiled
+                if has_meta_params
+                else self._wrapped_policy,
+                "out_keys",
+            )
+            and (
+                self._wrapped_policy_uncompiled
+                if has_meta_params
+                else self._wrapped_policy
+            ).out_keys
+        ):
+            self._policy_output_keys = list(
+                (
+                    self._wrapped_policy_uncompiled
+                    if has_meta_params
+                    else self._wrapped_policy
+                ).out_keys
+            )
+        elif has_meta_params:
+            # Policy has meta params and no spec/out_keys - defer initialization
+            # Mark that we need to initialize later when weights are loaded
+            self._policy_output_keys = set()
+            if make_rollout:
+                # We'll populate keys on first actual rollout after weights are loaded
+                self._final_rollout_needs_init = True
+        else:
+            if make_rollout:
+                # otherwise, we perform a small number of steps with the policy to
+                # determine the relevant keys with which to pre-populate _final_rollout.
+                # This is the safest thing to do if the spec has None fields or if there is
+                # no spec at all.
+                # See #505 for additional context.
+                self._final_rollout.update(self._carrier.copy())
+            with torch.no_grad():
+                policy_input = self._carrier.copy()
+                if self.policy_device:
+                    policy_input = policy_input.to(self.policy_device)
+                # we cast to policy device, we'll deal with the device later
+                policy_input_copy = policy_input.copy()
+                policy_input_clone = (
+                    policy_input.clone()
+                )  # to test if values have changed in-place
+                if self.compiled_policy:
+                    cudagraph_mark_step_begin()
+                policy_output = self._wrapped_policy(policy_input)
+
+                # check that we don't have exclusive keys, because they don't appear in keys
+                def check_exclusive(val):
+                    if (
+                        isinstance(val, LazyStackedTensorDict)
+                        and val._has_exclusive_keys
+                    ):
+                        raise RuntimeError(
+                            "LazyStackedTensorDict with exclusive keys are not permitted in collectors. "
+                            "Consider using a placeholder for missing keys."
+                        )
+
+                policy_output._fast_apply(
+                    check_exclusive, call_on_nested=True, filter_empty=True
+                )
+
+                # Use apply, because it works well with lazy stacks
+                # Edge-case of this approach: the policy may change the values in-place and only by a tiny bit
+                # or occasionally. In these cases, the keys will be missed (we can't detect if the policy has
+                # changed them here).
+                # This will cause a failure to update entries when policy and env device mismatch and
+                # casting is necessary.
+                def filter_policy(name, value_output, value_input, value_input_clone):
+                    if (value_input is None) or (
+                        (value_output is not value_input)
+                        and (
+                            value_output.device != value_input_clone.device
+                            or ~torch.isclose(value_output, value_input_clone).any()
+                        )
+                    ):
+                        return value_output
+
+                filtered_policy_output = policy_output.apply(
+                    filter_policy,
+                    policy_input_copy,
+                    policy_input_clone,
+                    default=None,
+                    filter_empty=True,
+                    named=True,
+                )
+                self._policy_output_keys = list(
+                    self._policy_output_keys.union(
+                        set(filtered_policy_output.keys(True, True))
+                    )
+                )
+                if make_rollout:
+                    self._final_rollout.update(
+                        policy_output.select(*self._policy_output_keys)
+                    )
+                del filtered_policy_output, policy_output, policy_input
+
+        _env_output_keys = []
+        for spec in ["full_observation_spec", "full_done_spec", "full_reward_spec"]:
+            _env_output_keys += list(self.env.output_spec[spec].keys(True, True))
+        self._env_output_keys = _env_output_keys
+        if make_rollout:
+            self._final_rollout = (
+                self._final_rollout.unsqueeze(-1)
+                .expand(*self.env.batch_size, self.frames_per_batch)
+                .clone()
+                .zero_()
+            )
+
+            # in addition to outputs of the policy, we add traj_ids to
+            # _final_rollout which will be collected during rollout
+            self._final_rollout.set(
+                ("collector", "traj_ids"),
+                torch.zeros(
+                    *self._final_rollout.batch_size,
+                    dtype=torch.int64,
+                    device=self.storing_device,
+                ),
+            )
+            self._final_rollout.refine_names(..., "time")
+
+    def _set_truncated_keys(self):
+        self._truncated_keys = []
+        if self.set_truncated:
+            if not any(_ends_with(key, "truncated") for key in self.env.done_keys):
+                raise RuntimeError(
+                    "set_truncated was set to True but no truncated key could be found "
+                    "in the environment. Make sure the truncated keys are properly set using "
+                    "`env.add_truncated_keys()` before passing the env to the collector."
+                )
+            self._truncated_keys = [
+                key for key in self.env.done_keys if _ends_with(key, "truncated")
+            ]
+
+    @classmethod
+    def _get_devices(
+        cls,
+        *,
+        storing_device: torch.device,
+        policy_device: torch.device,
+        env_device: torch.device,
+        device: torch.device,
+    ):
+        device = _make_ordinal_device(torch.device(device) if device else device)
+        storing_device = _make_ordinal_device(
+            torch.device(storing_device) if storing_device else device
+        )
+        policy_device = _make_ordinal_device(
+            torch.device(policy_device) if policy_device else device
+        )
+        env_device = _make_ordinal_device(
+            torch.device(env_device) if env_device else device
+        )
+        if storing_device is None and (env_device == policy_device):
+            storing_device = env_device
+        return storing_device, policy_device, env_device
+
+    # for RPC
+    def next(self):
+        return super().next()
+
+    # for RPC
+    def update_policy_weights_(
+        self,
+        policy_or_weights: TensorDictBase | TensorDictModuleBase | dict | None = None,
+        *,
+        worker_ids: int | list[int] | torch.device | list[torch.device] | None = None,
+        **kwargs,
+    ) -> None:
+        if "policy_weights" in kwargs:
+            warnings.warn(
+                "`policy_weights` is deprecated. Use `policy_or_weights` instead.",
+                DeprecationWarning,
+            )
+            policy_or_weights = kwargs.pop("policy_weights")
+
+        super().update_policy_weights_(
+            policy_or_weights=policy_or_weights, worker_ids=worker_ids, **kwargs
+        )
+
+    def _maybe_fallback_update(
+        self,
+        policy_or_weights: TensorDictBase | TensorDictModuleBase | dict | None = None,
+        *,
+        model_id: str | None = None,
+    ) -> None:
+        """Copy weights from original policy to internal policy when no scheme configured."""
+        if model_id is not None and model_id != "policy":
+            return
+
+        # Get source weights - either from argument or from original policy
+        if policy_or_weights is not None:
+            weights = self._extract_weights_if_needed(policy_or_weights, "policy")
+        elif self._orig_policy is not None:
+            weights = TensorDict.from_module(self._orig_policy)
+        else:
+            return
+
+        # Apply to internal policy
+        if (
+            hasattr(self, "_policy_w_state_dict")
+            and self._policy_w_state_dict is not None
+        ):
+            TensorDict.from_module(self._policy_w_state_dict).data.update_(weights.data)
+
+    def set_seed(self, seed: int, static_seed: bool = False) -> int:
+        """Sets the seeds of the environments stored in the DataCollector.
+
+        Args:
+            seed (int): integer representing the seed to be used for the environment.
+            static_seed(bool, optional): if ``True``, the seed is not incremented.
+                Defaults to False
+
+        Returns:
+            Output seed. This is useful when more than one environment is contained in the DataCollector, as the
+            seed will be incremented for each of these. The resulting seed is the seed of the last environment.
+
+        Examples:
+            >>> from torchrl.envs import ParallelEnv
+            >>> from torchrl.envs.libs.gym import GymEnv
+            >>> from tensordict.nn import TensorDictModule
+            >>> from torch import nn
+            >>> env_fn = lambda: GymEnv("Pendulum-v1")
+            >>> env_fn_parallel = ParallelEnv(6, env_fn)
+            >>> policy = TensorDictModule(nn.Linear(3, 1), in_keys=["observation"], out_keys=["action"])
+            >>> collector = Collector(env_fn_parallel, policy, total_frames=300, frames_per_batch=100)
+            >>> out_seed = collector.set_seed(1)  # out_seed = 6
+
+        """
+        out = self.env.set_seed(seed, static_seed=static_seed)
+        return out
+
+    def _increment_frames(self, numel):
+        self._frames += numel
+        completed = self._frames >= self.total_frames
+        if completed:
+            self.env.close()
+        return completed
+
+    def iterator(self) -> Iterator[TensorDictBase]:
+        """Iterates through the DataCollector.
+
+        Yields: TensorDictBase objects containing (chunks of) trajectories
+
+        """
+        if (
+            not self.no_cuda_sync
+            and self.storing_device
+            and self.storing_device.type == "cuda"
+        ):
+            stream = torch.cuda.Stream(self.storing_device, priority=-1)
+            event = stream.record_event()
+            streams = [stream]
+            events = [event]
+        elif not self.no_cuda_sync and self.storing_device is None:
+            streams = []
+            events = []
+            # this way of checking cuda is robust to lazy stacks with mismatching shapes
+            cuda_devices = set()
+
+            def cuda_check(tensor: torch.Tensor):
+                if tensor.is_cuda:
+                    cuda_devices.add(tensor.device)
+
+            if not self._use_buffers:
+                # This may be a bit dangerous as `torch.device("cuda")` may not have a precise
+                # device associated, whereas `tensor.device` always has
+                for spec in self.env.specs.values(True, True):
+                    if spec.device is not None and spec.device.type == "cuda":
+                        if ":" not in str(spec.device):
+                            raise RuntimeError(
+                                "A cuda spec did not have a device associated. Make sure to "
+                                "pass `'cuda:device_num'` to each spec device."
+                            )
+                        cuda_devices.add(spec.device)
+            else:
+                self._final_rollout.apply(cuda_check, filter_empty=True)
+            for device in cuda_devices:
+                streams.append(torch.cuda.Stream(device, priority=-1))
+                events.append(streams[-1].record_event())
+        else:
+            streams = []
+            events = []
+
+        # Set up profiler if configured
+        profiler = None
+        if self._profile_config is not None:
+            profiler = _CollectorProfiler(self._profile_config)
+            if profiler.is_active:
+                profiler.start()
+
+        with contextlib.ExitStack() as stack:
+            for stream in streams:
+                stack.enter_context(torch.cuda.stream(stream))
+
+            while self._frames < self.total_frames:
+                self._iter += 1
+
+                # Use profiler context if profiling is active
+                profile_ctx = (
+                    profiler.profile_rollout()
+                    if profiler is not None and profiler.is_active
+                    else contextlib.nullcontext()
+                )
+
+                with profile_ctx:
+                    tensordict_out = self.rollout()
+
+                # Step the profiler after each rollout
+                if profiler is not None and profiler.is_active:
+                    profiler.step()
+
+                if tensordict_out is None:
+                    # if a replay buffer is passed and self.extend_buffer=False, there is no tensordict_out
+                    #  frames are updated within the rollout function
+                    yield
+                    continue
+                self._increment_frames(tensordict_out.numel())
+                tensordict_out = self._postproc(tensordict_out)
+                if self.return_same_td:
+                    # This is used with multiprocessed collectors to use the buffers
+                    # stored in the tensordict.
+                    if events:
+                        for event in events:
+                            event.record()
+                            event.synchronize()
+                    yield tensordict_out
+                elif self.replay_buffer is not None and not self._ignore_rb:
+                    self.replay_buffer.extend(tensordict_out)
+                    yield
+                else:
+                    # we must clone the values, as the tensordict is updated in-place.
+                    # otherwise the following code may break:
+                    # >>> for i, data in enumerate(collector):
+                    # >>>      if i == 0:
+                    # >>>          data0 = data
+                    # >>>      elif i == 1:
+                    # >>>          data1 = data
+                    # >>>      else:
+                    # >>>          break
+                    # >>> assert data0["done"] is not data1["done"]
+                    yield tensordict_out.clone()
+
+        # Stop profiler if it hasn't been stopped yet
+        if profiler is not None and profiler.is_active:
+            profiler.stop()
+
+    def start(self):
+        """Starts the collector in a separate thread for asynchronous data collection.
+
+        The collected data is stored in the provided replay buffer. This method is useful when you want to decouple data
+        collection from training, allowing your training loop to run independently of the data collection process.
+
+        Raises:
+            RuntimeError: If no replay buffer is defined during the collector's initialization.
+
+        Example:
+            >>> from torchrl.modules import RandomPolicy            >>>             >>> import time
+            >>> from functools import partial
+            >>>
+            >>> import tqdm
+            >>>
+            >>> from torchrl.collectors import Collector
+            >>> from torchrl.data import LazyTensorStorage, ReplayBuffer
+            >>> from torchrl.envs import GymEnv, set_gym_backend
+            >>> import ale_py
+            >>>
+            >>> # Set the gym backend to gymnasium
+            >>> set_gym_backend("gymnasium").set()
+            >>>
+            >>> if __name__ == "__main__":
+            ...     # Create a random policy for the Pong environment
+            ...     env = GymEnv("ALE/Pong-v5")
+            ...     policy = RandomPolicy(env.action_spec)
+            ...
+            ...     # Initialize a shared replay buffer
+            ...     rb = ReplayBuffer(storage=LazyTensorStorage(1000), shared=True)
+            ...
+            ...     # Create a synchronous data collector
+            ...     collector = Collector(
+            ...         env,
+            ...         policy=policy,
+            ...         replay_buffer=rb,
+            ...         frames_per_batch=256,
+            ...         total_frames=-1,
+            ...     )
+            ...
+            ...     # Progress bar to track the number of collected frames
+            ...     pbar = tqdm.tqdm(total=100_000)
+            ...
+            ...     # Start the collector asynchronously
+            ...     collector.start()
+            ...
+            ...     # Track the write count of the replay buffer
+            ...     prec_wc = 0
+            ...     while True:
+            ...         wc = rb.write_count
+            ...         c = wc - prec_wc
+            ...         prec_wc = wc
+            ...
+            ...         # Update the progress bar
+            ...         pbar.update(c)
+            ...         pbar.set_description(f"Write Count: {rb.write_count}")
+            ...
+            ...         # Check the write count every 0.5 seconds
+            ...         time.sleep(0.5)
+            ...
+            ...         # Stop when the desired number of frames is reached
+            ...         if rb.write_count . 100_000:
+            ...             break
+            ...
+            ...     # Shut down the collector
+            ...     collector.async_shutdown()
+        """
+        if self.replay_buffer is None:
+            raise RuntimeError("Replay buffer must be defined for execution.")
+        if not self.is_running():
+            self._stop = False
+            self._thread = threading.Thread(target=self._run_iterator)
+            self._thread.daemon = (
+                True  # So that the thread dies when the main program exits
+            )
+            self._thread.start()
+
+    def _run_iterator(self):
+        for _ in self:
+            if self._stop:
+                return
+
+    def is_running(self):
+        return hasattr(self, "_thread") and self._thread.is_alive()
+
+    def _should_use_random_frames(self) -> bool:
+        """Determine if random frames should be used instead of the policy.
+
+        When a replay buffer is provided, uses `replay_buffer.write_count` as the
+        global step counter to support `.start()` mode where `_frames` isn't updated
+        until after collection. Otherwise, uses the internal `_frames` counter.
+
+        Returns:
+            bool: True if random frames should be used, False otherwise.
+        """
+        if self.init_random_frames is None or self.init_random_frames <= 0:
+            return False
+        # Use replay_buffer.write_count when available for accurate counting in .start() mode
+        if self.replay_buffer is not None:
+            return self.replay_buffer.write_count < self.init_random_frames
+        return self._frames < self.init_random_frames
+
+    def async_shutdown(
+        self, timeout: float | None = None, close_env: bool = True
+    ) -> None:
+        """Finishes processes started by ray.init() during async execution."""
+        self._stop = True
+        if hasattr(self, "_thread") and self._thread.is_alive():
+            self._thread.join(timeout=timeout)
+        self.shutdown(close_env=close_env)
+
+    def _postproc(self, tensordict_out):
+        if self.split_trajs:
+            tensordict_out = split_trajectories(tensordict_out, prefix="collector")
+        if self.postproc is not None:
+            tensordict_out = self.postproc(tensordict_out)
+        if self._exclude_private_keys:
+
+            def is_private(key):
+                if isinstance(key, str) and key.startswith("_"):
+                    return True
+                if isinstance(key, tuple) and any(_key.startswith("_") for _key in key):
+                    return True
+                return False
+
+            excluded_keys = [
+                key for key in tensordict_out.keys(True) if is_private(key)
+            ]
+            tensordict_out = tensordict_out.exclude(*excluded_keys, inplace=True)
+        return tensordict_out
+
+    def _update_traj_ids(self, env_output) -> None:
+        # we can't use the reset keys because they're gone
+        traj_sop = _aggregate_end_of_traj(
+            env_output.get("next"), done_keys=self.env.done_keys
+        )
+        if traj_sop.any():
+            device = self.storing_device
+
+            traj_ids = self._carrier.get(("collector", "traj_ids"))
+            if device is not None:
+                traj_ids = traj_ids.to(device)
+                traj_sop = traj_sop.to(device)
+            elif traj_sop.device != traj_ids.device:
+                traj_sop = traj_sop.to(traj_ids.device)
+
+            pool = self._traj_pool
+            new_traj = pool.get_traj_and_increment(
+                traj_sop.sum(), device=traj_sop.device
+            )
+            traj_ids = traj_ids.masked_scatter(traj_sop, new_traj)
+            self._carrier.set(("collector", "traj_ids"), traj_ids)
+
+    @torch.no_grad()
+    def rollout(self) -> TensorDictBase:
+        """Computes a rollout in the environment using the provided policy.
+
+        Returns:
+            TensorDictBase containing the computed rollout.
+
+        """
+        if self.reset_at_each_iter:
+            self._carrier.update(self.env.reset())
+
+        # self._shuttle.fill_(("collector", "step_count"), 0)
+        if self._use_buffers:
+            self._final_rollout.fill_(("collector", "traj_ids"), -1)
+        else:
+            pass
+        tensordicts = []
+        with set_exploration_type(self.exploration_type):
+            for t in range(self.frames_per_batch):
+                if self._should_use_random_frames():
+                    self.env.rand_action(self._carrier)
+                    if (
+                        self.policy_device is not None
+                        and self.policy_device != self.env_device
+                    ):
+                        # TODO: This may break with exclusive / ragged lazy stacks
+                        self._carrier.apply(
+                            lambda name, val: val.to(
+                                device=self.policy_device, non_blocking=True
+                            )
+                            if name in self._policy_output_keys
+                            else val,
+                            out=self._carrier,
+                            named=True,
+                            nested_keys=True,
+                        )
+                else:
+                    if self._cast_to_policy_device:
+                        if self.policy_device is not None:
+                            # This is unsafe if the shuttle is in pin_memory -- otherwise cuda will be happy with non_blocking
+                            non_blocking = (
+                                not self.no_cuda_sync
+                                or self.policy_device.type == "cuda"
+                            )
+                            policy_input = self._carrier.to(
+                                self.policy_device,
+                                non_blocking=non_blocking,
+                            )
+                            if not self.no_cuda_sync:
+                                self._sync_policy()
+                        elif self.policy_device is None:
+                            # we know the tensordict has a device otherwise we would not be here
+                            # we can pass this, clear_device_ must have been called earlier
+                            # policy_input = self._shuttle.clear_device_()
+                            policy_input = self._carrier
+                    else:
+                        policy_input = self._carrier
+                    # we still do the assignment for security
+                    if self.compiled_policy:
+                        cudagraph_mark_step_begin()
+                    policy_output = self._wrapped_policy(policy_input)
+                    if self.compiled_policy:
+                        policy_output = policy_output.clone()
+                    if self._carrier is not policy_output:
+                        # ad-hoc update shuttle
+                        self._carrier.update(
+                            policy_output, keys_to_update=self._policy_output_keys
+                        )
+
+                if self._cast_to_env_device:
+                    if self.env_device is not None:
+                        non_blocking = (
+                            not self.no_cuda_sync or self.env_device.type == "cuda"
+                        )
+                        env_input = self._carrier.to(
+                            self.env_device, non_blocking=non_blocking
+                        )
+                        if not self.no_cuda_sync:
+                            self._sync_env()
+                    elif self.env_device is None:
+                        # we know the tensordict has a device otherwise we would not be here
+                        # we can pass this, clear_device_ must have been called earlier
+                        # env_input = self._shuttle.clear_device_()
+                        env_input = self._carrier
+                else:
+                    env_input = self._carrier
+                env_output, env_next_output = self.env.step_and_maybe_reset(env_input)
+
+                if self._carrier is not env_output:
+                    # ad-hoc update shuttle
+                    next_data = env_output.get("next")
+                    if self._shuttle_has_no_device:
+                        # Make sure
+                        next_data.clear_device_()
+                    self._carrier.set("next", next_data)
+
+                if (
+                    self.replay_buffer is not None
+                    and not self._ignore_rb
+                    and not self.extend_buffer
+                ):
+                    self.replay_buffer.add(self._carrier)
+                    if self._increment_frames(self._carrier.numel()):
+                        return
+                else:
+                    if self.storing_device is not None:
+                        non_blocking = (
+                            not self.no_cuda_sync or self.storing_device.type == "cuda"
+                        )
+                        tensordicts.append(
+                            self._carrier.to(
+                                self.storing_device, non_blocking=non_blocking
+                            )
+                        )
+                        if not self.no_cuda_sync:
+                            self._sync_storage()
+                    else:
+                        tensordicts.append(self._carrier)
+
+                # carry over collector data without messing up devices
+                collector_data = self._carrier.get("collector").copy()
+                self._carrier = env_next_output
+                if self._shuttle_has_no_device:
+                    self._carrier.clear_device_()
+                self._carrier.set("collector", collector_data)
+                self._update_traj_ids(env_output)
+
+                if (
+                    self.interruptor is not None
+                    and self.interruptor.collection_stopped()
+                ):
+                    if (
+                        self.replay_buffer is not None
+                        and not self._ignore_rb
+                        and not self.extend_buffer
+                    ):
+                        return
+                    result = self._final_rollout
+                    if self._use_buffers:
+                        try:
+                            torch.stack(
+                                tensordicts,
+                                self._final_rollout.ndim - 1,
+                                out=self._final_rollout[..., : t + 1],
+                            )
+                        except RuntimeError:
+                            with self._final_rollout.unlock_():
+                                torch.stack(
+                                    tensordicts,
+                                    self._final_rollout.ndim - 1,
+                                    out=self._final_rollout[..., : t + 1],
+                                )
+                    else:
+                        result = TensorDict.maybe_dense_stack(tensordicts, dim=-1)
+                    break
+            else:
+                if self._use_buffers:
+                    result = self._final_rollout
+                    try:
+                        result = torch.stack(
+                            tensordicts,
+                            self._final_rollout.ndim - 1,
+                            out=self._final_rollout,
+                        )
+
+                    except RuntimeError:
+                        with self._final_rollout.unlock_():
+                            result = torch.stack(
+                                tensordicts,
+                                self._final_rollout.ndim - 1,
+                                out=self._final_rollout,
+                            )
+                elif (
+                    self.replay_buffer is not None
+                    and not self._ignore_rb
+                    and not self.extend_buffer
+                ):
+                    return
+                else:
+                    result = TensorDict.maybe_dense_stack(tensordicts, dim=-1)
+                    result.refine_names(..., "time")
+
+        return self._maybe_set_truncated(result)
+
+    def _maybe_set_truncated(self, final_rollout):
+        last_step = (slice(None),) * (final_rollout.ndim - 1) + (-1,)
+        for truncated_key in self._truncated_keys:
+            truncated = final_rollout["next", truncated_key]
+            truncated[last_step] = True
+            final_rollout["next", truncated_key] = truncated
+            done = final_rollout["next", _replace_last(truncated_key, "done")]
+            final_rollout["next", _replace_last(truncated_key, "done")] = (
+                done | truncated
+            )
+        return final_rollout
+
+    @torch.no_grad()
+    def reset(self, index=None, **kwargs) -> None:
+        """Resets the environments to a new initial state."""
+        # metadata
+        collector_metadata = self._carrier.get("collector").clone()
+        if index is not None:
+            # check that the env supports partial reset
+            if prod(self.env.batch_size) == 0:
+                raise RuntimeError("resetting unique env with index is not permitted.")
+            for reset_key, done_keys in zip(
+                self.env.reset_keys, self.env.done_keys_groups
+            ):
+                _reset = torch.zeros(
+                    self.env.full_done_spec[done_keys[0]].shape,
+                    dtype=torch.bool,
+                    device=self.env.device,
+                )
+                _reset[index] = 1
+                self._carrier.set(reset_key, _reset)
+        else:
+            _reset = None
+            self._carrier.zero_()
+
+        self._carrier.update(self.env.reset(**kwargs), inplace=True)
+        collector_metadata["traj_ids"] = (
+            collector_metadata["traj_ids"] - collector_metadata["traj_ids"].min()
+        )
+        self._carrier["collector"] = collector_metadata
+
+    def shutdown(
+        self,
+        timeout: float | None = None,
+        close_env: bool = True,
+        raise_on_error: bool = True,
+    ) -> None:
+        """Shuts down all workers and/or closes the local environment.
+
+        Args:
+            timeout (float, optional): The timeout for closing pipes between workers.
+                No effect for this class.
+            close_env (bool, optional): Whether to close the environment. Defaults to `True`.
+            raise_on_error (bool, optional): Whether to raise an error if the shutdown fails. Defaults to `True`.
+        """
+        try:
+            if not self.closed:
+                self.closed = True
+                del self._carrier
+                if self._use_buffers:
+                    del self._final_rollout
+                if close_env and not self.env.is_closed:
+                    self.env.close(raise_if_closed=raise_on_error)
+                del self.env
+            return
+        except Exception as e:
+            if raise_on_error:
+                raise e
+            else:
+                pass
+
+    def __del__(self):
+        try:
+            self.shutdown()
+        except Exception:
+            # an AttributeError will typically be raised if the collector is deleted when the program ends.
+            # In the future, insignificant changes to the close method may change the error type.
+            # We excplicitely assume that any error raised during closure in
+            # __del__ will not affect the program.
+            pass
+
+    def state_dict(self) -> OrderedDict:
+        """Returns the local state_dict of the data collector (environment and policy).
+
+        Returns:
+            an ordered dictionary with fields :obj:`"policy_state_dict"` and
+            `"env_state_dict"`.
+
+        """
+        from torchrl.envs.batched_envs import BatchedEnvBase
+
+        if isinstance(self.env, TransformedEnv):
+            env_state_dict = self.env.transform.state_dict()
+        elif isinstance(self.env, BatchedEnvBase):
+            env_state_dict = self.env.state_dict()
+        else:
+            env_state_dict = OrderedDict()
+
+        if hasattr(self, "_policy_w_state_dict"):
+            policy_state_dict = self._policy_w_state_dict.state_dict()
+            state_dict = OrderedDict(
+                policy_state_dict=policy_state_dict,
+                env_state_dict=env_state_dict,
+            )
+        else:
+            state_dict = OrderedDict(env_state_dict=env_state_dict)
+
+        state_dict.update({"frames": self._frames, "iter": self._iter})
+
+        return state_dict
+
+    def load_state_dict(self, state_dict: OrderedDict, **kwargs) -> None:
+        """Loads a state_dict on the environment and policy.
+
+        Args:
+            state_dict (OrderedDict): ordered dictionary containing the fields
+                `"policy_state_dict"` and :obj:`"env_state_dict"`.
+
+        """
+        strict = kwargs.get("strict", True)
+        if strict or "env_state_dict" in state_dict:
+            self.env.load_state_dict(state_dict["env_state_dict"], **kwargs)
+        if strict or "policy_state_dict" in state_dict:
+            if not hasattr(self, "_policy_w_state_dict"):
+                raise ValueError(
+                    "Underlying policy does not have state_dict to load policy_state_dict into."
+                )
+            self._policy_w_state_dict.load_state_dict(
+                state_dict["policy_state_dict"], **kwargs
+            )
+        self._frames = state_dict["frames"]
+        self._iter = state_dict["iter"]
+
+    def __repr__(self) -> str:
+        try:
+            env_str = indent(f"env={self.env}", 4 * " ")
+            policy_str = indent(f"policy={self._wrapped_policy}", 4 * " ")
+            td_out_str = repr(getattr(self, "_final_rollout", None))
+            if len(td_out_str) > 50:
+                td_out_str = td_out_str[:50] + "..."
+            td_out_str = indent(f"td_out={td_out_str}", 4 * " ")
+            string = (
+                f"{self.__class__.__name__}("
+                f"\n{env_str},"
+                f"\n{policy_str},"
+                f"\n{td_out_str},"
+                f"\nexploration={self.exploration_type})"
+            )
+            return string
+        except Exception:
+            return f"{type(self).__name__}(not_init)"
+
+    def increment_version(self):
+        """Increment the policy version."""
+        if self.policy_version_tracker is not None:
+            if not hasattr(self.policy_version_tracker, "increment_version"):
+                raise RuntimeError(
+                    "Policy version tracker is not a PolicyVersion instance. Please pass a PolicyVersion instance to the collector."
+                )
+            self.policy_version_tracker.increment_version()
+
+    @property
+    def policy_version(self) -> str | int | None:
+        """The current policy version."""
+        if not hasattr(self.policy_version_tracker, "version"):
+            return None
+        return self.policy_version_tracker.version
+
+    def get_policy_version(self) -> str | int | None:
+        """Get the current policy version.
+
+        This method exists to support remote calls in Ray actors, since properties
+        cannot be accessed directly through Ray's RPC mechanism.
+
+        Returns:
+            The current version number (int) or UUID (str), or None if version tracking is disabled.
+        """
+        return self.policy_version
+
+    def getattr_policy(self, attr):
+        """Get an attribute from the policy."""
+        # send command to policy to return the attr
+        return getattr(self._wrapped_policy, attr)
+
+    def getattr_env(self, attr):
+        """Get an attribute from the environment."""
+        # send command to env to return the attr
+        return getattr(self.env, attr)
+
+    def getattr_rb(self, attr):
+        """Get an attribute from the replay buffer."""
+        # send command to rb to return the attr
+        return getattr(self.replay_buffer, attr)
+
+    def get_model(self, model_id: str):
+        """Get model instance by ID (for weight sync schemes).
+
+        Args:
+            model_id: Model identifier (e.g., "policy", "value_net")
+
+        Returns:
+            The model instance
+
+        Raises:
+            ValueError: If model_id is not recognized
+        """
+        if model_id == "policy":
+            # Return the unwrapped policy instance for weight synchronization
+            # The unwrapped policy has the same parameter structure as what's
+            # extracted in the main process, avoiding key mismatches when
+            # the policy is auto-wrapped (e.g., WrappablePolicy -> TensorDictModule)
+            if hasattr(self, "policy") and self.policy is not None:
+                return self.policy
+            else:
+                raise ValueError(f"No policy found for model_id '{model_id}'")
+        else:
+            return _resolve_model(self, model_id)
+
+    def _receive_weights_scheme(self):
+        return super()._receive_weights_scheme()
+
+
+class SyncDataCollector(Collector, metaclass=_LegacyCollectorMeta):
+    """Deprecated version of :class:`~torchrl.collectors.Collector`."""
+
+    ...