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refactor(train): remove EMA support from training pipeline

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Drop the opt-in EMA-shadow feature entirely: EMAConfig, the `ema` field on
TrainPipelineConfig, all EMA logic in lerobot_train.py (setup/resume, per-step
update, W&B observability, checkpoint save, EMA-model eval, and the sibling
`<repo_id>-ema` hub push), and the ema-pytorch dependency.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
pepijn
2026-07-08 11:15:33 +00:00
parent c80ddfe22c
commit 147b8f248d
5 changed files with 2 additions and 141 deletions
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@@ -1430,19 +1430,6 @@ wheels = [
{ url = "https://files.pythonhosted.org/packages/64/cb/809f0c3e4e7bfe78c6dd468631896a8866c3ba853e3c855cc3fa58fae660/eiquadprog-1.2.9-0-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:416f4b584ea30072f166b2a6a3e0a63a2a260a378f9bcbd2dfc9cde13b810a50", size = 118538, upload-time = "2025-02-17T19:00:16.297Z" },
]
[[package]]
name = "ema-pytorch"
version = "0.7.9"
source = { registry = "https://pypi.org/simple" }
dependencies = [
{ name = "torch", version = "2.11.0", source = { registry = "https://pypi.org/simple" }, marker = "sys_platform != 'linux'" },
{ name = "torch", version = "2.11.0+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "sys_platform == 'linux'" },
]
sdist = { url = "https://files.pythonhosted.org/packages/c7/b8/de3bb1eacd77a81eb843fb098c2eaeac3bbe6777623a15c786e03fdc44be/ema_pytorch-0.7.9.tar.gz", hash = "sha256:a8ccdf2eeecce5489de02fc7c9776ef55400220afff92b8223f7516cb570b594", size = 10564, upload-time = "2025-12-19T21:30:04.154Z" }
wheels = [
{ url = "https://files.pythonhosted.org/packages/9f/99/d2c69a90d2d666ff9ef45426992bd2c7d578068ea6324a1a46e6020c636d/ema_pytorch-0.7.9-py3-none-any.whl", hash = "sha256:fe6f236d16e879d7d3cf4946fa1eed395c01f42d3df6a61a9f0ebebbc9aae56d", size = 11538, upload-time = "2025-12-19T21:30:03.122Z" },
]
[[package]]
name = "etils"
version = "1.14.0"
@@ -2842,7 +2829,6 @@ dependencies = [
{ name = "cmake" },
{ name = "draccus" },
{ name = "einops" },
{ name = "ema-pytorch" },
{ name = "gymnasium" },
{ name = "huggingface-hub" },
{ name = "numpy" },
@@ -3318,7 +3304,6 @@ requires-dist = [
{ name = "draccus", specifier = "==0.10.0" },
{ name = "dynamixel-sdk", marker = "extra == 'dynamixel'", specifier = ">=3.7.31,<3.9.0" },
{ name = "einops", specifier = ">=0.8.0,<0.9.0" },
{ name = "ema-pytorch", specifier = ">=0.7.7,<1.0.0" },
{ name = "faker", marker = "extra == 'sarm'", specifier = ">=33.0.0,<35.0.0" },
{ name = "fastapi", marker = "extra == 'phone'", specifier = "<1.0" },
{ name = "feetech-servo-sdk", marker = "extra == 'feetech'", specifier = ">=1.0.0,<2.0.0" },