Add TD3 and SAC support for multiple envs

[noahfarr]

Description

TD3 and SAC currently doesnt support running multiple environments. Its easy to add by adding a num_envs param and passing it to the env creation and replay buffer initialization.

Types of changes

• Bug fix
• New feature
• New algorithm
• Documentation

Checklist:

• I've read the CONTRIBUTION guide (required).
• I have ensured pre-commit run --all-files passes (required).
• I have updated the tests accordingly (if applicable).
• I have updated the documentation and previewed the changes via mkdocs serve.
  • I have explained note-worthy implementation details.
  • I have explained the logged metrics.
  • I have added links to the original paper and related papers.

If you need to run benchmark experiments for a performance-impacting changes:

• I have contacted @vwxyzjn to obtain access to the openrlbenchmark W&B team.
• I have used the benchmark utility to submit the tracked experiments to the openrlbenchmark/cleanrl W&B project, optionally with --capture_video.
• I have performed RLops with python -m openrlbenchmark.rlops.
  • For new feature or bug fix:
    • I have used the RLops utility to understand the performance impact of the changes and confirmed there is no regression.
  • For new algorithm:
    • I have created a table comparing my results against those from reputable sources (i.e., the original paper or other reference implementation).
  • I have added the learning curves generated by the python -m openrlbenchmark.rlops utility to the documentation.
  • I have added links to the tracked experiments in W&B, generated by python -m openrlbenchmark.rlops ....your_args... --report, to the documentation.

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Name	Status	Preview	Comments	Updated (UTC)
cleanrl	✅ Ready (Inspect)	Visit Preview	💬 Add feedback	Aug 28, 2024 6:10pm

[pseudo-rnd-thoughts]

I would default this to 1

[noahfarr]

Sure. Probably also worth discussing how to handle total_timesteps with multiple environments.

[noahfarr]

@pseudo-rnd-thoughts It seems like in sb3 they do it like this:
Lets say total_timesteps is 100_000.
Then they actually run 100_000 * num_envs steps, because for each timestep num_envs step are executed.