code: def default_target_policy_smoothing_func(batch_action):
      """Add noises to actions for target policy smoothing."""
      noise = torch.clamp(
          0.2 * torch.randn_like(batch_action), -0.5, 0.5
      )
      return torch.clamp(batch_action + noise, -1, 1)
  
imports: import collections
  import copy
  from logging import getLogger
  import numpy
  import torch
  from torch.nn import functional
  import pfrl
  from pfrl.agent import AttributeSavingMixin, BatchAgent
  from pfrl.replay_buffer import ReplayUpdater, batch_experiences
  from pfrl.utils import clip_l2_grad_norm_
  from pfrl.utils.batch_states import batch_states
  from pfrl.utils.copy_param import synchronize_parameters
label_desc: Use image node_id 2 for calling a global function with example usage: default_target_policy_smoothing_func(batch_action) and returns: torch