[Feature] Add explicit dimensions and device support to RSSM modules

[vmoens]

Stack from ghstack (oldest at bottom):

• [Feature] Add _Contiguous module and reshape improvements to encoders/decoders #3306
• [BugFix] Fix SliceSampler for torch.compile compatibility #3298
• [Feature] Refactor Dreamer training with async collectors, profiling, and improved config #3308
• [Feature] Add noise argument and scan mode to RSSMRollout #3307
• -> [Feature] Add explicit dimensions and device support to RSSM modules #3305
• [Refactor] Use compile-aware helpers in Dreamer objectives #3304
• [BugFix] Fix value functions for torch.compile compatibility #3303
• [BugFix] Fix TDLambdaEstimator for torch.compile compatibility #3302
• [BugFix] Optimize DreamerEnv to avoid CUDA sync in done checks #3301
• [Feature] Add allow_done_after_reset parameter to ModelBasedEnvBase #3300
• [BugFix] Fix ModelBasedEnvBase for torch.compile compatibility #3299
• [Refactor] Add compile-aware timing and profiling helpers #3297
• [Feature] Support callable scale in IndependentNormal and TanhNormal distributions #3296
• [Refactor] Use non_blocking transfers in distribution modules #3295
• [Refactor] Add WEIGHT_SYNC_TIMEOUT constant for collector weight synchronization #3294
• [Refactor] Remove MUJOCO_EGL_DEVICE_ID auto-setting from torchrl init #3293

---

• Add device parameter to DreamerActor, ObsEncoder, ObsDecoder, RSSMPrior, RSSMPosterior
• Add in_channels param to ObsEncoder (avoids LazyConv2d)
• Add latent_dim param to ObsDecoder (avoids LazyLinear)
• Add action_dim param to RSSMPrior (avoids LazyLinear)
• Add rnn_hidden_dim, obs_embed_dim params to RSSMPosterior (avoids LazyLinear)
• Run GRUCell in full precision to avoid cuBLAS issues with bfloat16

[pytorch-bot]

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❌ 3 New Failures, 23 Pending

As of commit 1ed3749 with merge base df00d61 ():

NEW FAILURES - The following jobs have failed:

• Habitat Tests on Linux / tests (3.9, 12.8) / linux-job (gh)
  RuntimeError: Command docker exec -t f55e0cd49d447eab0a8d43f9f372fad799cb02823892144962ded3fdcf03948b /exec failed with exit code 1
• Libs Tests on Linux / unittests-gym (3.9, 12.8) / linux-job (gh)
  RuntimeError: Command docker exec -t f4b4d1a1b4a3318e1e4d7eb1a261f4e3948bbd4a544a1509a11a6b15bf546e6a /exec failed with exit code 1
• Lint / python-source-and-configs / linux-job (gh)
  RuntimeError: Command docker exec -t de5e75fea36b4092c440f3accfc69832d698cf221e201a34511f3181dbd7ac44 /exec failed with exit code 1

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