Source code for embodichain.agents.rl.models.policy

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"""Policy base class for RL algorithms.

This module defines an abstract Policy base class that all RL policies must
inherit from. A Policy encapsulates the neural networks and exposes a uniform
interface for RL algorithms (e.g., PPO, SAC) to interact with.
"""

from __future__ import annotations

from abc import ABC, abstractmethod
import torch.nn as nn

import torch
from tensordict import TensorDict




class Policy(nn.Module, ABC):
    """Abstract base class that all RL policies must implement.

    A Policy:
    - Encapsulates neural networks that are trained by RL algorithms
    - Handles internal computations (e.g., network output → distribution)
    - Provides a uniform interface for algorithms (PPO, SAC, etc.)
    """

    device: torch.device
    """Device where the policy parameters are located."""



    def __init__(self) -> None:
        super().__init__()




    def get_action(
        self, tensordict: TensorDict, deterministic: bool = False
    ) -> TensorDict:
        """Sample actions into the provided TensorDict without gradients.

        Args:
            tensordict: Input TensorDict containing `obs`.
            deterministic: If True, return the mean action; otherwise sample

        Returns:
            TensorDict with `action`, `sample_log_prob`, and `value` populated.
        """
        with torch.no_grad():
            return self.forward(tensordict, deterministic=deterministic)




    @abstractmethod
    def forward(
        self, tensordict: TensorDict, deterministic: bool = False
    ) -> TensorDict:
        """Write sampled actions and value estimates into the TensorDict."""
        raise NotImplementedError




    @abstractmethod
    def get_value(self, tensordict: TensorDict) -> TensorDict:
        """Write value estimate for the given observations into the TensorDict.

        Args:
            tensordict: Input TensorDict containing `obs`.

        Returns:
            TensorDict with `value` populated.
        """
        raise NotImplementedError




    @abstractmethod
    def evaluate_actions(self, tensordict: TensorDict) -> TensorDict:
        """Evaluate actions and return current policy outputs.

        Args:
            tensordict: TensorDict containing `obs` and `action`.

        Returns:
            A new TensorDict containing `sample_log_prob`, `entropy`, and `value`.
        """
        raise NotImplementedError