#!/usr/bin/env python

# Copyright 2024 The HuggingFace Inc. team.
# All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import logging
import shutil
import time
from concurrent.futures import ThreadPoolExecutor
from pprint import pformat
import os
from pathlib import Path

import draccus
import grpc

# Import generated stubs
import hilserl_pb2_grpc  # type: ignore
import torch
from termcolor import colored
from torch import nn

from torch.multiprocessing import Queue
from torch.optim.optimizer import Optimizer

from lerobot.common.datasets.factory import make_dataset

from lerobot.configs.train import TrainPipelineConfig
from lerobot.configs import parser
# TODO: Remove the import of maniskill
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
from lerobot.common.policies.factory import make_policy
from lerobot.common.policies.sac.modeling_sac import SACPolicy, SACConfig
from lerobot.common.utils.train_utils import (
    get_step_checkpoint_dir,
    get_step_identifier,
    load_training_state as utils_load_training_state,
    save_checkpoint,
    update_last_checkpoint,
)
from lerobot.common.utils.random_utils import set_seed
from lerobot.common.utils.utils import (
    format_big_number,
    get_safe_torch_device,
    init_logging,
)

from lerobot.common.policies.utils import get_device_from_parameters
from lerobot.common.utils.wandb_utils import WandBLogger
from lerobot.scripts.server import learner_service
from lerobot.scripts.server.buffer import (
    ReplayBuffer,
    bytes_to_python_object,
    bytes_to_transitions,
    concatenate_batch_transitions,
    move_state_dict_to_device,
    move_transition_to_device,
    state_to_bytes,
)
from lerobot.scripts.server.utils import setup_process_handlers
from lerobot.common.constants import (
    CHECKPOINTS_DIR,
    LAST_CHECKPOINT_LINK,
    PRETRAINED_MODEL_DIR,
    TRAINING_STATE_DIR,
    TRAINING_STEP,
)


def handle_resume_logic(cfg: TrainPipelineConfig) -> TrainPipelineConfig:
    """
    Handle the resume logic for training.
    
    If resume is True:
    - Verifies that a checkpoint exists
    - Loads the checkpoint configuration
    - Logs resumption details
    - Returns the checkpoint configuration
    
    If resume is False:
    - Checks if an output directory exists (to prevent accidental overwriting)
    - Returns the original configuration
    
    Args:
        cfg (TrainPipelineConfig): The training configuration
        
    Returns:
        TrainPipelineConfig: The updated configuration
    
    Raises:
        RuntimeError: If resume is True but no checkpoint found, or if resume is False but directory exists
    """
    out_dir = cfg.output_dir
    
    # Case 1: Not resuming, but need to check if directory exists to prevent overwrites
    if not cfg.resume:
        checkpoint_dir = os.path.join(out_dir, CHECKPOINTS_DIR, LAST_CHECKPOINT_LINK)
        if os.path.exists(checkpoint_dir):
            raise RuntimeError(
                f"Output directory {checkpoint_dir} already exists. "
                "Use `resume=true` to resume training."
            )
        return cfg

    # Case 2: Resuming training
    checkpoint_dir = os.path.join(out_dir, CHECKPOINTS_DIR, LAST_CHECKPOINT_LINK)
    if not os.path.exists(checkpoint_dir):
        raise RuntimeError(f"No model checkpoint found in {checkpoint_dir} for resume=True")

    # Log that we found a valid checkpoint and are resuming
    logging.info(
        colored(
            "Valid checkpoint found: resume=True detected, resuming previous run",
            color="yellow",
            attrs=["bold"],
        )
    )

    # Load config using Draccus
    checkpoint_cfg_path = os.path.join(checkpoint_dir, PRETRAINED_MODEL_DIR, "train_config.json")
    checkpoint_cfg = TrainPipelineConfig.from_pretrained(checkpoint_cfg_path)
    
    # Ensure resume flag is set in returned config
    checkpoint_cfg.resume = True
    return checkpoint_cfg


def load_training_state(
    cfg: TrainPipelineConfig,
    optimizers: Optimizer | dict[str, Optimizer],
):
    """
    Loads the training state (optimizers, step count, etc.) from a checkpoint.
    
    Args:
        cfg (TrainPipelineConfig): Training configuration
        optimizers (Optimizer | dict): Optimizers to load state into
        
    Returns:
        tuple: (optimization_step, interaction_step) or (None, None) if not resuming
    """
    if not cfg.resume:
        return None, None

    # Construct path to the last checkpoint directory
    checkpoint_dir = os.path.join(cfg.output_dir, CHECKPOINTS_DIR, LAST_CHECKPOINT_LINK)
    
    logging.info(f"Loading training state from {checkpoint_dir}")
    
    try:
        # Use the utility function from train_utils which loads the optimizer state
        # The function returns (step, updated_optimizer, scheduler)
        step, optimizers, _ = utils_load_training_state(Path(checkpoint_dir), optimizers, None)
        
        # For interaction step, we still need to load the training_state.pt file
        training_state_path = os.path.join(checkpoint_dir, TRAINING_STATE_DIR, "training_state.pt")
        training_state = torch.load(training_state_path, weights_only=False)
        interaction_step = training_state.get("interaction_step", 0)
        
        logging.info(f"Resuming from step {step}, interaction step {interaction_step}")
        return step, interaction_step
        
    except Exception as e:
        logging.error(f"Failed to load training state: {e}")
        return None, None


def log_training_info(cfg: TrainPipelineConfig, policy: nn.Module) -> None:
    """
    Log information about the training process.
    
    Args:
        cfg (TrainPipelineConfig): Training configuration
        policy (nn.Module): Policy model
    """
    num_learnable_params = sum(p.numel() for p in policy.parameters() if p.requires_grad)
    num_total_params = sum(p.numel() for p in policy.parameters())

   
    logging.info(colored("Output dir:", "yellow", attrs=["bold"]) + f" {cfg.output_dir}")
    logging.info(f"{cfg.env.task=}")
    logging.info(f"{cfg.policy.online_steps=}")
    logging.info(f"{num_learnable_params=} ({format_big_number(num_learnable_params)})")
    logging.info(f"{num_total_params=} ({format_big_number(num_total_params)})")


def initialize_replay_buffer(
    cfg: TrainPipelineConfig, 
    device: str, 
    storage_device: str
) -> ReplayBuffer:
    """
    Initialize a replay buffer, either empty or from a dataset if resuming.
    
    Args:
        cfg (TrainPipelineConfig): Training configuration
        device (str): Device to store tensors on
        storage_device (str): Device for storage optimization
        
    Returns:
        ReplayBuffer: Initialized replay buffer
    """
    if not cfg.resume:
        return ReplayBuffer(
            capacity=cfg.policy.online_buffer_capacity,
            device=device,
            state_keys=cfg.policy.input_features.keys(),
            storage_device=storage_device,
            optimize_memory=True,
        )

    logging.info("Resume training load the online dataset")
    dataset_path = os.path.join(cfg.output_dir, "dataset")
    dataset = LeRobotDataset(
        repo_id=cfg.dataset.dataset_repo_id,
        local_files_only=True,
        root=dataset_path,
    )
    return ReplayBuffer.from_lerobot_dataset(
        lerobot_dataset=dataset,
        capacity=cfg.policy.online_buffer_capacity,
        device=device,
        state_keys=cfg.policy.input_shapes.keys(),
        optimize_memory=True,
    )


def initialize_offline_replay_buffer(
    cfg: TrainPipelineConfig,
    device: str,
    storage_device: str,
    active_action_dims: list[int] | None = None,
) -> ReplayBuffer:
    """
    Initialize an offline replay buffer from a dataset.
    
    Args:
        cfg (TrainPipelineConfig): Training configuration
        device (str): Device to store tensors on
        storage_device (str): Device for storage optimization
        active_action_dims (list[int] | None): Active action dimensions for masking
        
    Returns:
        ReplayBuffer: Initialized offline replay buffer
    """
    if not cfg.resume:
        logging.info("make_dataset offline buffer")
        offline_dataset = make_dataset(cfg)
    else:
        logging.info("load offline dataset")
        dataset_offline_path = os.path.join(cfg.output_dir, "dataset_offline")
        offline_dataset = LeRobotDataset(
            repo_id=cfg.dataset.dataset_repo_id,
            local_files_only=True,
            root=dataset_offline_path,
        )

    logging.info("Convert to a offline replay buffer")
    offline_replay_buffer = ReplayBuffer.from_lerobot_dataset(
        offline_dataset,
        device=device,
        state_keys=cfg.policy.input_features.keys(),
        action_mask=active_action_dims,
        action_delta=cfg.env.wrapper.delta_action,
        storage_device=storage_device,
        optimize_memory=True,
        capacity=cfg.policy.offline_buffer_capacity,
    )
    return offline_replay_buffer


def get_observation_features(
    policy: SACPolicy, observations: torch.Tensor, next_observations: torch.Tensor
) -> tuple[torch.Tensor | None, torch.Tensor | None]:
    if policy.config.vision_encoder_name is None or not policy.config.freeze_vision_encoder:
        return None, None

    with torch.no_grad():
        observation_features = (
            policy.actor.encoder(observations) if policy.actor.encoder is not None else None
        )
        next_observation_features = (
            policy.actor.encoder(next_observations) if policy.actor.encoder is not None else None
        )

    return observation_features, next_observation_features


def use_threads(cfg: TrainPipelineConfig) -> bool:
    return cfg.policy.concurrency["learner"] == "threads"


def start_learner_threads(
    cfg: TrainPipelineConfig,
    wandb_logger: WandBLogger | None,
    shutdown_event: any,  # Event,
) -> None:
    """
    Start the learner threads for training.
    
    Args:
        cfg (TrainPipelineConfig): Training configuration
        wandb_logger (WandBLogger | None): Logger for metrics
        shutdown_event: Event to signal shutdown
    """
    # Create multiprocessing queues
    transition_queue = Queue()
    interaction_message_queue = Queue()
    parameters_queue = Queue()

    concurrency_entity = None

    if use_threads(cfg):
        from threading import Thread

        concurrency_entity = Thread
    else:
        from torch.multiprocessing import Process

        concurrency_entity = Process

    communication_process = concurrency_entity(
        target=start_learner_server,
        args=(
            parameters_queue,
            transition_queue,
            interaction_message_queue,
            shutdown_event,
            cfg,
        ),
        daemon=True,
    )
    communication_process.start()

    add_actor_information_and_train(
        cfg=cfg,
        wandb_logger=wandb_logger,
        shutdown_event=shutdown_event,
        transition_queue=transition_queue,
        interaction_message_queue=interaction_message_queue,
        parameters_queue=parameters_queue,
    )
    logging.info("[LEARNER] Training process stopped")

    logging.info("[LEARNER] Closing queues")
    transition_queue.close()
    interaction_message_queue.close()
    parameters_queue.close()

    communication_process.join()
    logging.info("[LEARNER] Communication process joined")

    logging.info("[LEARNER] join queues")
    transition_queue.cancel_join_thread()
    interaction_message_queue.cancel_join_thread()
    parameters_queue.cancel_join_thread()

    logging.info("[LEARNER] queues closed")


def start_learner_server(
    parameters_queue: Queue,
    transition_queue: Queue,
    interaction_message_queue: Queue,
    shutdown_event: any,  # Event,
    cfg: TrainPipelineConfig,
):
    if not use_threads(cfg):
        # We need init logging for MP separataly
        init_logging()

        # Setup process handlers to handle shutdown signal
        # But use shutdown event from the main process
        # Return back for MP
        setup_process_handlers(False)

    service = learner_service.LearnerService(
        shutdown_event=shutdown_event,
        parameters_queue=parameters_queue,
        seconds_between_pushes=cfg.policy.actor_learner_config["policy_parameters_push_frequency"],
        transition_queue=transition_queue,
        interaction_message_queue=interaction_message_queue,
    )

    server = grpc.server(
        ThreadPoolExecutor(max_workers=learner_service.MAX_WORKERS),
        options=[
            ("grpc.max_receive_message_length", learner_service.MAX_MESSAGE_SIZE),
            ("grpc.max_send_message_length", learner_service.MAX_MESSAGE_SIZE),
        ],
    )

    hilserl_pb2_grpc.add_LearnerServiceServicer_to_server(
        service,
        server,
    )

    host = cfg.policy.actor_learner_config["learner_host"]
    port = cfg.policy.actor_learner_config["learner_port"]

    server.add_insecure_port(f"{host}:{port}")
    server.start()
    logging.info("[LEARNER] gRPC server started")

    shutdown_event.wait()
    logging.info("[LEARNER] Stopping gRPC server...")
    server.stop(learner_service.STUTDOWN_TIMEOUT)
    logging.info("[LEARNER] gRPC server stopped")


def check_nan_in_transition(
    observations: torch.Tensor,
    actions: torch.Tensor,
    next_state: torch.Tensor,
    raise_error: bool = False,
) -> bool:
    """
    Check for NaN values in transition data.

    Args:
        observations: Dictionary of observation tensors
        actions: Action tensor
        next_state: Dictionary of next state tensors
        raise_error: If True, raises ValueError when NaN is detected

    Returns:
        bool: True if NaN values were detected, False otherwise
    """
    nan_detected = False

    # Check observations
    for key, tensor in observations.items():
        if torch.isnan(tensor).any():
            logging.error(f"observations[{key}] contains NaN values")
            nan_detected = True
            if raise_error:
                raise ValueError(f"NaN detected in observations[{key}]")

    # Check next state
    for key, tensor in next_state.items():
        if torch.isnan(tensor).any():
            logging.error(f"next_state[{key}] contains NaN values")
            nan_detected = True
            if raise_error:
                raise ValueError(f"NaN detected in next_state[{key}]")

    # Check actions
    if torch.isnan(actions).any():
        logging.error("actions contains NaN values")
        nan_detected = True
        if raise_error:
            raise ValueError("NaN detected in actions")

    return nan_detected


def push_actor_policy_to_queue(parameters_queue: Queue, policy: nn.Module):
    logging.debug("[LEARNER] Pushing actor policy to the queue")
    state_dict = move_state_dict_to_device(policy.actor.state_dict(), device="cpu")
    state_bytes = state_to_bytes(state_dict)
    parameters_queue.put(state_bytes)


def add_actor_information_and_train(
    cfg: TrainPipelineConfig,
    wandb_logger: WandBLogger | None,
    shutdown_event: any,  # Event,
    transition_queue: Queue,
    interaction_message_queue: Queue,
    parameters_queue: Queue,
):
    """
    Handles data transfer from the actor to the learner, manages training updates,
    and logs training progress in an online reinforcement learning setup.

    This function continuously:
    - Transfers transitions from the actor to the replay buffer.
    - Logs received interaction messages.
    - Ensures training begins only when the replay buffer has a sufficient number of transitions.
    - Samples batches from the replay buffer and performs multiple critic updates.
    - Periodically updates the actor, critic, and temperature optimizers.
    - Logs training statistics, including loss values and optimization frequency.

    Args:
        cfg (TrainPipelineConfig): Configuration object containing hyperparameters.
        wandb_logger (WandBLogger | None): Logger for tracking training progress.
        shutdown_event (Event): Event to signal shutdown.
        transition_queue (Queue): Queue for receiving transitions from the actor.
        interaction_message_queue (Queue): Queue for receiving interaction messages from the actor.
        parameters_queue (Queue): Queue for sending policy parameters to the actor.
    """

    device = get_safe_torch_device(try_device=cfg.policy.device, log=True)
    storage_device = get_safe_torch_device(try_device=cfg.policy.storage_device)

    logging.info("Initializing policy")
    # Get checkpoint dir for resuming
    checkpoint_dir = os.path.join(cfg.output_dir, CHECKPOINTS_DIR, LAST_CHECKPOINT_LINK) if cfg.resume else None
    pretrained_path = os.path.join(checkpoint_dir, PRETRAINED_MODEL_DIR) if checkpoint_dir else None
    
    # TODO(Adil): This don't work anymore !
    policy: SACPolicy = make_policy(
        cfg=cfg.policy,
        # ds_meta=cfg.dataset,
        env_cfg=cfg.env
    )

    # Update the policy config with the grad_clip_norm value from training config if it exists
    clip_grad_norm_value:float = cfg.policy.grad_clip_norm

    # compile policy
    policy = torch.compile(policy)
    assert isinstance(policy, nn.Module)
    policy.train()

    push_actor_policy_to_queue(parameters_queue=parameters_queue, policy=policy)

    last_time_policy_pushed = time.time()

    optimizers, lr_scheduler = make_optimizers_and_scheduler(cfg=cfg, policy=policy)
    resume_optimization_step, resume_interaction_step = load_training_state(cfg=cfg, optimizers=optimizers)

    log_training_info(cfg=cfg, policy= policy)

    replay_buffer = initialize_replay_buffer(cfg, device, storage_device)
    batch_size = cfg.batch_size
    offline_replay_buffer = None

    if cfg.dataset is not None:
        active_action_dims = None
        # TODO: FIX THIS
        if cfg.env.wrapper.joint_masking_action_space is not None:
            active_action_dims = [
                i for i, mask in enumerate(cfg.env.wrapper.joint_masking_action_space) if mask
            ]
        offline_replay_buffer = initialize_offline_replay_buffer(
            cfg=cfg,
            device=device,
            storage_device=storage_device,
            active_action_dims=active_action_dims,
        )
        batch_size: int = batch_size // 2  # We will sample from both replay buffer

    # NOTE: This function doesn't have a single responsibility, it should be split into multiple functions
    # in the future. The reason why we did that is the  GIL in Python. It's super slow the performance
    # are divided by 200. So we need to have a single thread that does all the work.
    time.time()
    logging.info("Starting learner thread")
    interaction_message, transition = None, None
    optimization_step = resume_optimization_step if resume_optimization_step is not None else 0
    interaction_step_shift = resume_interaction_step if resume_interaction_step is not None else 0

    # Extract variables from cfg
    online_step_before_learning = cfg.policy.online_step_before_learning
    utd_ratio = cfg.policy.utd_ratio

    dataset_repo_id = None
    if cfg.dataset is not None:
        dataset_repo_id = cfg.dataset.repo_id

    fps = cfg.env.fps
    log_freq = cfg.log_freq
    save_freq = cfg.save_freq
    device = cfg.policy.device
    storage_device = cfg.policy.storage_device
    policy_update_freq = cfg.policy.policy_update_freq
    policy_parameters_push_frequency = cfg.policy.actor_learner_config["policy_parameters_push_frequency"]
    save_checkpoint = cfg.save_checkpoint
    online_steps = cfg.policy.online_steps

    while True:
        if shutdown_event is not None and shutdown_event.is_set():
            logging.info("[LEARNER] Shutdown signal received. Exiting...")
            break

        logging.debug("[LEARNER] Waiting for transitions")
        while not transition_queue.empty() and not shutdown_event.is_set():
            transition_list = transition_queue.get()
            transition_list = bytes_to_transitions(transition_list)

            for transition in transition_list:
                transition = move_transition_to_device(transition, device=device)
                if check_nan_in_transition(
                    transition["state"], transition["action"], transition["next_state"]
                ):
                    logging.warning("NaN detected in transition, skipping")
                    continue
                replay_buffer.add(**transition)

                if cfg.dataset.repo_id is not None and transition.get("complementary_info", {}).get(
                    "is_intervention"
                ):
                    offline_replay_buffer.add(**transition)

        logging.debug("[LEARNER] Received transitions")
        logging.debug("[LEARNER] Waiting for interactions")
        while not interaction_message_queue.empty() and not shutdown_event.is_set():
            interaction_message = interaction_message_queue.get()
            interaction_message = bytes_to_python_object(interaction_message)
            # If cfg.resume, shift the interaction step with the last checkpointed step in order to not break the logging
            interaction_message["Interaction step"] += interaction_step_shift
            
            # Log interaction messages with WandB if available
            if wandb_logger:
                wandb_logger.log_dict(
                    d=interaction_message, 
                    mode="train", 
                    custom_step_key="Interaction step"
                )
            else:
                # Log to console if no WandB logger
                logging.info(f"Interaction: {interaction_message}")

        logging.debug("[LEARNER] Received interactions")

        if len(replay_buffer) < online_step_before_learning:
            continue

        logging.debug("[LEARNER] Starting optimization loop")
        time_for_one_optimization_step = time.time()
        for _ in range(utd_ratio - 1):
            batch = replay_buffer.sample(batch_size=batch_size)

            if dataset_repo_id is not None:
                batch_offline = offline_replay_buffer.sample(batch_size=batch_size)
                batch = concatenate_batch_transitions(left_batch_transitions=batch, right_batch_transition=batch_offline)

            actions = batch["action"]
            rewards = batch["reward"]
            observations = batch["state"]
            next_observations = batch["next_state"]
            done = batch["done"]
            check_nan_in_transition(observations=observations, actions=actions, next_state=next_observations)

            observation_features, next_observation_features = get_observation_features(
                policy=policy, observations=observations, next_observations=next_observations
            )
            loss_critic = policy.compute_loss_critic(
                observations=observations,
                actions=actions,
                rewards=rewards,
                next_observations=next_observations,
                done=done,
                observation_features=observation_features,
                next_observation_features=next_observation_features,
            )
            optimizers["critic"].zero_grad()
            loss_critic.backward()

            # clip gradients
            critic_grad_norm = torch.nn.utils.clip_grad_norm_(
                parameters=policy.critic_ensemble.parameters(), max_norm=clip_grad_norm_value
            )

            optimizers["critic"].step()

        batch = replay_buffer.sample(batch_size=batch_size)

        if dataset_repo_id is not None:
            batch_offline = offline_replay_buffer.sample(batch_size=batch_size)
            batch = concatenate_batch_transitions(
                left_batch_transitions=batch, right_batch_transition=batch_offline
            )

        actions = batch["action"]
        rewards = batch["reward"]
        observations = batch["state"]
        next_observations = batch["next_state"]
        done = batch["done"]

        check_nan_in_transition(observations=observations, actions=actions, next_state=next_observations)

        observation_features, next_observation_features = get_observation_features(
            policy=policy, observations=observations, next_observations=next_observations
        )
        loss_critic = policy.compute_loss_critic(
            observations=observations,
            actions=actions,
            rewards=rewards,
            next_observations=next_observations,
            done=done,
            observation_features=observation_features,
            next_observation_features=next_observation_features,
        )
        optimizers["critic"].zero_grad()
        loss_critic.backward()

        # clip gradients
        critic_grad_norm = torch.nn.utils.clip_grad_norm_(
            parameters=policy.critic_ensemble.parameters(), max_norm=clip_grad_norm_value
        ).item()

        optimizers["critic"].step()

        training_infos = {}
        training_infos["loss_critic"] = loss_critic.item()
        training_infos["critic_grad_norm"] = critic_grad_norm

        if optimization_step % policy_update_freq == 0:
            for _ in range(policy_update_freq):
                loss_actor = policy.compute_loss_actor(
                    observations=observations,
                    observation_features=observation_features,
                )

                optimizers["actor"].zero_grad()
                loss_actor.backward()

                # clip gradients
                actor_grad_norm = torch.nn.utils.clip_grad_norm_(
                    parameters=policy.actor.parameters_to_optimize, max_norm=clip_grad_norm_value
                ).item()

                optimizers["actor"].step()

                training_infos["loss_actor"] = loss_actor.item()
                training_infos["actor_grad_norm"] = actor_grad_norm

                # Temperature optimization
                loss_temperature = policy.compute_loss_temperature(
                    observations=observations,
                    observation_features=observation_features,
                )
                optimizers["temperature"].zero_grad()
                loss_temperature.backward()

                #  clip gradients
                temp_grad_norm = torch.nn.utils.clip_grad_norm_(
                    parameters=[policy.log_alpha], max_norm=clip_grad_norm_value
                ).item()

                optimizers["temperature"].step()

                training_infos["loss_temperature"] = loss_temperature.item()
                training_infos["temperature_grad_norm"] = temp_grad_norm
                training_infos["temperature"] = policy.temperature

        if time.time() - last_time_policy_pushed > policy_parameters_push_frequency:
            push_actor_policy_to_queue(parameters_queue=parameters_queue, policy=policy)
            last_time_policy_pushed = time.time()

        policy.update_target_networks()

        if optimization_step % log_freq == 0:
            training_infos["replay_buffer_size"] = len(replay_buffer)
            if offline_replay_buffer is not None:
                training_infos["offline_replay_buffer_size"] = len(offline_replay_buffer)
            training_infos["Optimization step"] = optimization_step
            
            # Log training metrics
            if wandb_logger:
                wandb_logger.log_dict(
                    d=training_infos, 
                    mode="train", 
                    custom_step_key="Optimization step"
                )
            else:
                # Log to console if no WandB logger
                logging.info(f"Training: {training_infos}")

        time_for_one_optimization_step = time.time() - time_for_one_optimization_step
        frequency_for_one_optimization_step = 1 / (time_for_one_optimization_step + 1e-9)

        logging.info(f"[LEARNER] Optimization frequency loop [Hz]: {frequency_for_one_optimization_step}")

        # Log optimization frequency
        if wandb_logger:
            wandb_logger.log_dict(
                {
                    "Optimization frequency loop [Hz]": frequency_for_one_optimization_step,
                    "Optimization step": optimization_step,
                },
                mode="train",
                custom_step_key="Optimization step",
            )

        optimization_step += 1
        if optimization_step % log_freq == 0:
            logging.info(f"[LEARNER] Number of optimization step: {optimization_step}")

        if save_checkpoint and (optimization_step % save_freq == 0 or optimization_step == online_steps):
            logging.info(f"Checkpoint policy after step {optimization_step}")
            _num_digits = max(6, len(str(online_steps)))
            step_identifier = f"{optimization_step:0{_num_digits}d}"
            interaction_step = (
                interaction_message["Interaction step"] if interaction_message is not None else 0
            )
            
            # Create checkpoint directory
            checkpoint_dir = get_step_checkpoint_dir(cfg.output_dir, online_steps, optimization_step)
            
            # Save checkpoint
            save_checkpoint(
                checkpoint_dir, 
                optimization_step, 
                cfg, 
                policy, 
                optimizers,
                scheduler=None
            )
            
            # Update the "last" symlink
            update_last_checkpoint(checkpoint_dir)

            # TODO : temporarly save replay buffer here, remove later when on the robot
            # We want to control this with the keyboard inputs
            dataset_dir = os.path.join(cfg.output_dir, "dataset")
            if os.path.exists(dataset_dir) and os.path.isdir(dataset_dir):
                shutil.rmtree(dataset_dir)
                
            # Save dataset
            replay_buffer.to_lerobot_dataset(
                dataset_repo_id, 
                fps=fps, 
                root=dataset_dir
            )
            
            if offline_replay_buffer is not None:
                dataset_offline_dir = os.path.join(cfg.output_dir, "dataset_offline")
                if os.path.exists(dataset_offline_dir) and os.path.isdir(dataset_offline_dir):
                    shutil.rmtree(dataset_offline_dir)

                offline_replay_buffer.to_lerobot_dataset(
                    cfg.dataset.dataset_repo_id,
                    fps=cfg.env.fps,
                    root=dataset_offline_dir,
                )

            logging.info("Resume training")


def make_optimizers_and_scheduler(cfg, policy: nn.Module):
    """
    Creates and returns optimizers for the actor, critic, and temperature components of a reinforcement learning policy.

    This function sets up Adam optimizers for:
    - The **actor network**, ensuring that only relevant parameters are optimized.
    - The **critic ensemble**, which evaluates the value function.
    - The **temperature parameter**, which controls the entropy in soft actor-critic (SAC)-like methods.

    It also initializes a learning rate scheduler, though currently, it is set to `None`.

    **NOTE:**
    - If the encoder is shared, its parameters are excluded from the actor's optimization process.
    - The policy's log temperature (`log_alpha`) is wrapped in a list to ensure proper optimization as a standalone tensor.

    Args:
        cfg: Configuration object containing hyperparameters.
        policy (nn.Module): The policy model containing the actor, critic, and temperature components.

    Returns:
        Tuple[Dict[str, torch.optim.Optimizer], Optional[torch.optim.lr_scheduler._LRScheduler]]:
        A tuple containing:
        - `optimizers`: A dictionary mapping component names ("actor", "critic", "temperature") to their respective Adam optimizers.
        - `lr_scheduler`: Currently set to `None` but can be extended to support learning rate scheduling.

    """
    optimizer_actor = torch.optim.Adam(
        # NOTE: Handle the case of shared encoder where the encoder weights are not optimized with the gradient of the actor
        params=policy.actor.parameters_to_optimize,
        lr=cfg.policy.actor_lr,
    )
    optimizer_critic = torch.optim.Adam(
        params=policy.critic_ensemble.parameters(), lr=cfg.policy.critic_lr
    )
    optimizer_temperature = torch.optim.Adam(params=[policy.log_alpha], lr=cfg.policy.critic_lr)
    lr_scheduler = None
    optimizers = {
        "actor": optimizer_actor,
        "critic": optimizer_critic,
        "temperature": optimizer_temperature,
    }
    return optimizers, lr_scheduler


def train(cfg: TrainPipelineConfig, job_name: str | None = None):
    """
    Main training function that initializes and runs the training process.
    
    Args:
        cfg (TrainPipelineConfig): The training configuration
        job_name (str | None, optional): Job name for logging. Defaults to None.
    """
    if cfg.output_dir is None:
        raise ValueError("Output directory must be specified in config")
    
    if job_name is None:
        job_name = cfg.job_name
        
    if job_name is None:
        raise ValueError("Job name must be specified either in config or as a parameter")

    init_logging()
    logging.info(pformat(cfg.to_dict()))

    # Setup WandB logging if enabled
    if cfg.wandb.enable and cfg.wandb.project:
        from lerobot.common.utils.wandb_utils import WandBLogger
        wandb_logger = WandBLogger(cfg)
    else:
        wandb_logger = None
        logging.info(colored("Logs will be saved locally.", "yellow", attrs=["bold"]))
        
    # Handle resume logic
    cfg = handle_resume_logic(cfg)

    set_seed(seed=cfg.seed)

    torch.backends.cudnn.benchmark = True
    torch.backends.cuda.matmul.allow_tf32 = True

    shutdown_event = setup_process_handlers(use_threads(cfg))

    start_learner_threads(
        cfg=cfg,
        wandb_logger=wandb_logger,
        shutdown_event=shutdown_event,
    )


@parser.wrap()
def train_cli(cfg: TrainPipelineConfig):
    
    if not use_threads(cfg):
        import torch.multiprocessing as mp
        mp.set_start_method("spawn")

    # Use the job_name from the config
    train(
        cfg,
        job_name=cfg.job_name,
    )

    logging.info("[LEARNER] train_cli finished")


if __name__ == "__main__":
    train_cli()
    logging.info("[LEARNER] main finished")
