Some question with CQL

[dbsxdbsx]

First, thanks your implementation of so many CQL. The below question are some related to your implementation, and some are related to CQL itself.

1. why the returned value of function _compute_policy_values in CQL-SAC is qs1 - log_pis.detach(), qs2 - log_pis.detach() with detached log_pis, I think it should not be detached.
2. what is the meaning of self.temp and self.cql_weight in CQL-SAC?I think self.cql_weight is duplicated as cql_alpha has a similar meaning.
3. Is it essential to use two q states in cql?
4. In CQL-SAC-Discrete, I think the q1 inside cql1_scaled_loss = torch.logsumexp(q1, dim=1).mean() - q1.mean() should be an expect over all optional q(s,a), but not the best one, am I wrong?
   5.In CQL-SAC, why retain_graph=True for the Lagrange and critic optimizer?
5. the most important question: according to p29 from paper, for continuous action, to calc the logsumexp object, both q from uniform and q from pi are used, but why also use actions from pi here? I asked also here, but still at a loss.

And I know some CQL question should be ask from the original repo, but the author is no longer active.