encorperate feedback pr

src/lerobot/scripts/lerobot_train.py

@@ -98,7 +98,9 @@ def update_policy(
     if grad_clip_norm > 0:
         grad_norm = accelerator.clip_grad_norm_(policy.parameters(), grad_clip_norm)
     else:
-        grad_norm = torch.tensor(0.0, device=accelerator.device)
+       grad_norm = torch.nn.utils.clip_grad_norm_(
+            policy.parameters(), float('inf'), error_if_nonfinite=False
+        )
 
     # Optimizer step
     with lock if lock is not None else nullcontext():

src/lerobot/utils/utils.py

@@ -52,15 +52,13 @@ def auto_select_torch_device() -> torch.device:
 
 
 # TODO(Steven): Remove log. log shouldn't be an argument, this should be handled by the logger level
-def get_safe_torch_device(
-    try_device: str, log: bool = False, accelerator: Callable | None = None
-) -> torch.device:
+def get_safe_torch_device(try_device: str, log: bool = False) -> torch.device:
     """Given a string, return a torch.device with checks on whether the device is available."""
     try_device = str(try_device)
     match try_device:
         case "cuda":
             assert torch.cuda.is_available()
-            device = accelerator.device if accelerator else torch.device("cuda")
+            device = torch.device("cuda")
         case "mps":
             assert torch.backends.mps.is_available()
             device = torch.device("mps")