TanhNormal

class torchrl.modules.TanhNormal(loc: torch.Tensor, scale: torch.Tensor, upscale: torch.Tensor | Number = 5.0, low: torch.Tensor | Number = - 1.0, high: torch.Tensor | Number = 1.0, event_dims: int | None = None, tanh_loc: bool = False, safe_tanh: bool = True)

Implements a TanhNormal distribution with location scaling.

Location scaling prevents the location to be “too far” from 0 when a TanhTransform is applied, but ultimately leads to numerically unstable samples and poor gradient computation (e.g. gradient explosion). In practice, with location scaling the location is computed according to

\[loc = tanh(loc / upscale) * upscale.\]

Parameters:

• loc (torch.Tensor) – normal distribution location parameter

• scale (torch.Tensor) – normal distribution sigma parameter (squared root of variance)

• upscale (torch.Tensor or number) –

  ‘a’ scaling factor in the formula:

  \[loc = tanh(loc / upscale) * upscale.\]

• low (torch.Tensor or number, optional) – minimum value of the distribution. Default is -1.0;

• high (torch.Tensor or number, optional) – maximum value of the distribution. Default is 1.0;

• event_dims (int, optional) – number of dimensions describing the action. Default is 1. Setting event_dims to 0 will result in a log-probability that has the same shape as the input, 1 will reduce (sum over) the last dimension, 2 the last two etc.

• tanh_loc (bool, optional) – if True, the above formula is used for the location scaling, otherwise the raw value is kept. Default is False;

• safe_tanh (bool, optional) – if True, the Tanh transform is done “safely”, to avoid numerical overflows. This will currently break with torch.compile().

get_mode()

Computes an estimation of the mode using the Adam optimizer.

property mean

Returns the mean of the distribution.

property mode

Returns the mode of the distribution.

property support

Returns a Constraint object representing this distribution’s support.