[Algorithm] CrossQ

[BY571]

Description

Adding CrossQ

Motivation and Context

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[pytorch-bot]

🔗 Helpful Links

🧪 See artifacts and rendered test results at hud.pytorch.org/pr/pytorch/rl/2033

• 📄 Preview Python docs built from this PR

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❌ 4 New Failures, 1 Unrelated Failure

As of commit c010e39 with merge base a151923 ():

NEW FAILURES - The following jobs have failed:

• Continuous Benchmark (PR) / CPU Pytest benchmark (gh)
  Workflow failed! Resource not accessible by integration
• Continuous Benchmark (PR) / GPU Pytest benchmark (gh)
  Workflow failed! Resource not accessible by integration
• Habitat Tests on Linux / tests (3.9, 12.1) / linux-job (gh)
  RuntimeError: Command docker exec -t 3d0ffbe271e081f1b65cbe69984f0ceb263fe7ce8ac7975a746227e56587e4df /exec failed with exit code 139
• Unit-tests on Linux / tests-optdeps (3.10, 12.1) / linux-job (gh)
  RuntimeError: Command docker exec -t 19b79cee76eab8416c0681b76414c6fdb9d19f9e8db8fd5a2fd1f9d7cbc616e0 /exec failed with exit code 1

BROKEN TRUNK - The following job failed but were present on the merge base:

👉 Rebase onto the `viable/strict` branch to avoid these failures

• Unit-tests on Windows / unittests-cpu / windows-job (gh) (trunk failure)
  test/test_transforms.py::TestActionDiscretizer::test_trans_parallel_env_check[False]

This comment was automatically generated by Dr. CI and updates every 15 minutes.

[BY571]

Performance with separate target_computation looks good:

But we need to check for speed. It should be similar to our sac implementation.

[vmoens]

thanks for this
There are just a couple of things to fix before merging

[vmoens]

@BY571 we should also add it to the sota benchmarks

[vmoens]

Let's put this in the modules no?

[vmoens]

and add it to the doc.
Happy to write a couple of tests.
Is it a copy paste? If so, can we check the license?

[vmoens]

Keep?

[vmoens]

we should check that this contains the values of the actor and qvalue nets

[vmoens]

@BY571 examples CI is failing:

  File "/pytorch/rl/sota-implementations/crossq/utils.py", line 244, in make_loss_module
    loss_module = CrossQLoss(
TypeError: __init__() got an unexpected keyword argument 'delay_actor'

[BY571]

@vmoens updated :)

[vmoens]

LGTM thanks a million for this