[Refactor] Deprecate recurrent_mode API to use decorators/CMs instead

[vmoens]

Stack from ghstack (oldest at bottom):

• -> [Refactor] Deprecate recurrent_mode API to use decorators/CMs instead #2584

Also ensures that all public loss functions are using the appropriate exploration mode and recurrent mode.

cc @thomasbbrunner

[pytorch-bot]

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❗ 1 Active SEVs

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• [DomainsOnly] Jobs fail with GLIBC version not found

❌ 3 New Failures, 2 Pending, 6 Unrelated Failures

As of commit 89fa139 with merge base 705ecc2 ():

NEW FAILURES - The following jobs have failed:

• Continuous Benchmark (PR) / CPU Pytest benchmark (gh)
  FAILED ../../../../../../tmp/test_objectives_benchmarks.py::test_iql_speed[True-None] - torch._dynamo.exc.Unsupported: Graph break under GenericContextWrappingVariable
• Continuous Benchmark (PR) / GPU Pytest benchmark (gh)
  FAILED ../../../../tmp/test_objectives_benchmarks.py::test_iql_speed[True-None] - torch._dynamo.exc.Unsupported: Graph break under GenericContextWrappingVariable
• Habitat Tests on Linux / tests (3.9, 12.1) / linux-job (gh)
  RuntimeError: Command docker exec -t 11df93e5dea7dc7db2c92552f597d47a54b88ba875270aadeb2962d1c77718a6 /exec failed with exit code 1

FLAKY - The following jobs failed but were likely due to flakiness present on trunk:

• Unit-tests on Linux / tests-cpu (3.11) / linux-job (gh) (matched linux rule in flaky-rules.json)
  Error response from daemon: toomanyrequests: You have reached your pull rate limit. You may increase the limit by authenticating and upgrading: https://www.docker.com/increase-rate-limit
• Unit-tests on Linux / tests-cpu (3.9) / linux-job (gh) (matched linux rule in flaky-rules.json)
  Error response from daemon: toomanyrequests: You have reached your pull rate limit. You may increase the limit by authenticating and upgrading: https://www.docker.com/increase-rate-limit

BROKEN TRUNK - The following jobs failed but were present on the merge base:

👉 Rebase onto the `viable/strict` branch to avoid these failures

• Build Linux Wheels / pytorch/rl (pytorch/rl, test/smoke_test.py, torchrl) / upload / manywheel-py3_9-rocm6_1 (gh) (trunk failure)
  ##[error]Unable to find an artifact with the name: pytorch_rl__3.9_rocm6.1_x86_64
• Build Linux Wheels / pytorch/rl (pytorch/rl, test/smoke_test.py, torchrl) / upload / manywheel-py3_9-rocm6_2 (gh) (trunk failure)
  ##[error]Unable to find an artifact with the name: pytorch_rl__3.9_rocm6.2_x86_64
• Unit-tests on Linux / tests-cpu (3.12) / linux-job (gh) (trunk failure)
  test/test_transforms.py::TestVecNorm::test_vecnorm_parallel_auto[5]
• Unit-tests on Windows / unittests-cpu / windows-job (gh) (trunk failure)
  ##[error]Process completed with exit code 1.

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