Update

[ghstack-poisoned]

Author: vmoens

torchrl/envs/model_based/dreamer.py

@@ -15,7 +15,13 @@
 
 
 class DreamerEnv(ModelBasedEnvBase):
-    """Dreamer simulation environment."""
+    """Dreamer simulation environment.
+
+    This environment is used for imagination rollouts in Dreamer training.
+    It never terminates (done is always False) since imagination runs for a
+    fixed horizon. The done-checking methods are overridden to avoid CUDA
+    synchronization overhead from Python control flow on CUDA tensors.
+    """
 
     def __init__(
         self,
@@ -26,11 +32,31 @@ def __init__(
         device: DEVICE_TYPING = "cpu",
         batch_size: torch.Size | None = None,
     ):
-        super().__init__(world_model, device=device, batch_size=batch_size)
+        super().__init__(
+            world_model,
+            device=device,
+            batch_size=batch_size,
+            # Skip done validation in reset() — imagination never terminates.
+            allow_done_after_reset=True,
+        )
         self.obs_decoder = obs_decoder
         self.prior_shape = prior_shape
         self.belief_shape = belief_shape
 
+    def any_done(self, tensordict) -> bool:
+        """Returns False — imagination rollouts never terminate.
+
+        Overridden to avoid CUDA sync from `done.any()` in parent class.
+        """
+        return False
+
+    def maybe_reset(self, tensordict):
+        """No-op — imagination rollouts don't need partial resets.
+
+        Overridden to avoid CUDA sync from done checks in parent class.
+        """
+        return tensordict
+
     def set_specs_from_env(self, env: EnvBase):
         """Sets the specs of the environment from the specs of the given environment."""
         super().set_specs_from_env(env)