diff --git a/tensordict/_pytree.py b/tensordict/_pytree.py
index 1006631c5..c89cf972c 100644
--- a/tensordict/_pytree.py
+++ b/tensordict/_pytree.py
@@ -4,15 +4,18 @@
 # LICENSE file in the root directory of this source tree.
 from typing import Any, Dict, List, Tuple
 
+import torch
 from tensordict import (
     LazyStackedTensorDict,
     PersistentTensorDict,
     SubTensorDict,
     TensorDict,
+    TensorDictBase,
 )
+from tensordict.utils import implement_for
 
 try:
-    from torch.utils._pytree import Context, register_pytree_node
+    from torch.utils._pytree import Context, MappingKey, register_pytree_node
 except ImportError:
     from torch.utils._pytree import (
         _register_pytree_node as register_pytree_node,
@@ -80,8 +83,16 @@ def _str_to_tensordictdict(str_spec: str) -> Tuple[List[str], str]:
 
 
 def _tensordict_flatten(d: TensorDict) -> Tuple[List[Any], Context]:
-    return list(d.values()), {
-        "keys": list(d.keys()),
+    items = tuple(d.items())
+    if items:
+        keys, values = zip(*d.items())
+        keys = list(keys)
+        values = list(values)
+    else:
+        keys = []
+        values = []
+    return values, {
+        "keys": keys,
         "batch_size": d.batch_size,
         "names": d.names,
         "device": d.device,
@@ -96,17 +107,59 @@ def _tensordictdict_unflatten(values: List[Any], context: Context) -> Dict[Any,
             if all(val.device == device for val in values if hasattr(val, "device"))
             else None
         )
+    batch_size = context["batch_size"]
+    names = context["names"]
+    keys = context["keys"]
+    batch_dims = len(batch_size)
+    if any(tensor.shape[:batch_dims] != batch_size for tensor in values):
+        batch_size = torch.Size([])
+        names = None
     return TensorDict(
-        dict(zip(context["keys"], values)),
-        context["batch_size"],
-        names=context["names"],
+        dict(zip(keys, values)),
+        batch_size=batch_size,
+        names=names,
         device=device,
+        _run_checks=False,
     )
 
 
-for cls in PYTREE_REGISTERED_TDS:
+def _td_flatten_with_keys(
+    d: TensorDictBase,
+):
+    items = tuple(d.items())
+    if items:
+        keys, values = zip(*d.items())
+        keys = list(keys)
+        values = list(values)
+    else:
+        keys = []
+        values = []
+    return [(MappingKey(k), v) for k, v in zip(keys, values)], {
+        "keys": keys,
+        "batch_size": d.batch_size,
+        "names": d.names,
+        "device": d.device,
+    }
+
+
+@implement_for("torch", None, "2.3")
+def _register_td_node(cls):
     register_pytree_node(
         cls,
         _tensordict_flatten,
         _tensordictdict_unflatten,
     )
+
+
+@implement_for("torch", "2.3")
+def _register_td_node(cls):  # noqa: F811
+    register_pytree_node(
+        cls,
+        _tensordict_flatten,
+        _tensordictdict_unflatten,
+        flatten_with_keys_fn=_td_flatten_with_keys,
+    )
+
+
+for cls in PYTREE_REGISTERED_TDS:
+    _register_td_node(cls)
diff --git a/tensordict/utils.py b/tensordict/utils.py
index 1f9ac3d0f..1384b62e4 100644
--- a/tensordict/utils.py
+++ b/tensordict/utils.py
@@ -822,9 +822,10 @@ def __init__(
         implement_for._setters.append(self)
 
     @staticmethod
-    def check_version(version, from_version, to_version):
-        return (from_version is None or parse(version) >= parse(from_version)) and (
-            to_version is None or parse(version) < parse(to_version)
+    def check_version(version: str, from_version: str | None, to_version: str | None):
+        version = parse(".".join([str(v) for v in parse(version).release]))
+        return (from_version is None or version >= parse(from_version)) and (
+            to_version is None or version < parse(to_version)
         )
 
     @staticmethod
diff --git a/test/test_functorch.py b/test/test_functorch.py
index 8f8396dc5..4091f19a8 100644
--- a/test/test_functorch.py
+++ b/test/test_functorch.py
@@ -8,7 +8,7 @@
 import pytest
 import torch
 
-from _utils_internal import expand_list, TestTensorDictsBase
+from _utils_internal import expand_list, get_available_devices, TestTensorDictsBase
 
 from tensordict import LazyStackedTensorDict, TensorDict
 from tensordict.nn import TensorDictModule, TensorDictSequential
@@ -17,6 +17,7 @@
     make_functional,
     repopulate_module,
 )
+from tensordict.utils import implement_for
 from torch import nn
 from torch.nn import Linear
 from torch.utils._pytree import tree_map
@@ -633,3 +634,32 @@ def test_pytree_vs_apply(self):
         for v1, v2 in zip(td_pytree.values(True), td_apply.values(True)):
             # recursively checks the shape, including for the nested tensordicts
             assert v1.shape == v2.shape
+
+    @implement_for("torch", "2.3")
+    def test_map_with_path(self):
+        def assert_path(path, tensor):
+            assert path[0].key == "a"
+            assert path[1].key == "b"
+            assert path[2].key == "c"
+            return tensor
+
+        td = TensorDict({"a": {"b": {"c": [1]}}}, [1])
+        torch.utils._pytree.tree_map_with_path(assert_path, td)
+
+    @implement_for("torch", None, "2.3")
+    def test_map_with_path(self):  # noqa: F811
+        pytest.skip(reason="tree_map_with_path not implemented")
+
+    @pytest.mark.parametrize("dest", get_available_devices())
+    def test_device_map(self, dest):
+        td = TensorDict({"a": {"b": {"c": [1]}, "d": [2]}}, [1], device="cpu")
+        td_device = tree_map(lambda x: x.to(dest), td)
+        if dest == torch.device("cpu"):
+            assert td_device.device == torch.device("cpu")
+        else:
+            assert td_device.device is None
+
+    def test_shape_map(self):
+        td = TensorDict({"a": {"b": {"c": [1]}, "d": [2]}}, [1])
+        td_no_shape = tree_map(lambda x: x.squeeze(), td)
+        assert td_no_shape.shape == torch.Size([])