Revert "fix"

This reverts commit 1ea65730ac.

src/lerobot/optim/schedulers.py

@@ -92,18 +92,13 @@ class CosineDecayWithWarmupSchedulerConfig(LRSchedulerConfig):
         def lr_lambda(current_step):
             def linear_warmup_schedule(current_step):
                 if current_step <= 0:
-                    return 0.1  # Start at 10% instead of 0.1% of peak LR
+                    return 1 / (self.num_warmup_steps + 1)
-                if current_step >= self.num_warmup_steps:
+                frac = 1 - current_step / self.num_warmup_steps
-                    return 1.0  # Reach peak at end of warmup
+                return (1 / (self.num_warmup_steps + 1) - 1) * frac + 1
-                # Linear interpolation from 10% to 100% of peak LR
-                return 0.1 + 0.9 * (current_step / self.num_warmup_steps)
 
             def cosine_decay_schedule(current_step):
-                # CRITICAL FIX: Decay should count from END of warmup, not from step 0!
+                step = min(current_step, self.num_decay_steps)
-                decay_step = current_step - self.num_warmup_steps
+                cosine_decay = 0.5 * (1 + math.cos(math.pi * step / self.num_decay_steps))
-                decay_step = max(0, min(decay_step, self.num_decay_steps))
-
-                cosine_decay = 0.5 * (1 + math.cos(math.pi * decay_step / self.num_decay_steps))
                 alpha = self.decay_lr / self.peak_lr
                 decayed = (1 - alpha) * cosine_decay + alpha
                 return decayed

src/lerobot/scripts/train.py

@@ -20,8 +20,6 @@ from pprint import pformat
 from typing import Any
 
 import torch
-from accelerate import Accelerator
-from accelerate.utils import DistributedDataParallelKwargs
 from termcolor import colored
 from torch.amp import GradScaler
 from torch.optim import Optimizer
@@ -149,40 +147,17 @@ def train(cfg: TrainPipelineConfig):
     cfg.validate()
     logging.info(pformat(cfg.to_dict()))
 
-    # Initialize Accelerate if requested
-    accelerator = None
-    if cfg.use_accelerate:
-        # Configure DDP to handle unused parameters
-        ddp_kwargs = DistributedDataParallelKwargs(find_unused_parameters=True)
-        accelerator = Accelerator(
-            gradient_accumulation_steps=cfg.gradient_accumulation_steps,
-            mixed_precision=cfg.mixed_precision,
-            kwargs_handlers=[ddp_kwargs],
-        )
-        device = accelerator.device
-        if accelerator.is_main_process:
-            logging.info(
-                f"Accelerate initialized with device: {device}, mixed_precision: {cfg.mixed_precision}"
-            )
-            logging.info(f"Training on {accelerator.num_processes} processes")
-    else:
-        # Check device is available (original behavior)
-        device = get_safe_torch_device(cfg.policy.device, log=True)
-
-    # Only create wandb logger on main process when using accelerate
     if cfg.wandb.enable and cfg.wandb.project:
-        if accelerator is None or accelerator.is_main_process:
+        wandb_logger = WandBLogger(cfg)
-            wandb_logger = WandBLogger(cfg)
-        else:
-            wandb_logger = None
     else:
         wandb_logger = None
-        if accelerator is None or accelerator.is_main_process:
+        logging.info(colored("Logs will be saved locally.", "yellow", attrs=["bold"]))
-            logging.info(colored("Logs will be saved locally.", "yellow", attrs=["bold"]))
 
     if cfg.seed is not None:
         set_seed(cfg.seed)
 
+    # Check device is available
+    device = get_safe_torch_device(cfg.policy.device, log=True)
     torch.backends.cudnn.benchmark = True
     torch.backends.cuda.matmul.allow_tf32 = True
 
@@ -225,12 +200,6 @@ def train(cfg: TrainPipelineConfig):
     if cfg.resume:
         step, optimizer, lr_scheduler = load_training_state(cfg.checkpoint_path, optimizer, lr_scheduler)
 
-    # Prepare objects with Accelerate if enabled
-    if accelerator is not None:
-        policy, optimizer, lr_scheduler = accelerator.prepare(policy, optimizer, lr_scheduler)
-        if accelerator.is_main_process:
-            logging.info("Policy, optimizer, and scheduler prepared with Accelerate")
-
     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())
 
@@ -266,11 +235,6 @@ def train(cfg: TrainPipelineConfig):
         drop_last=False,
         prefetch_factor=2,
     )
-
-    # Prepare dataloader with Accelerate if enabled
-    if accelerator is not None:
-        dataloader = accelerator.prepare(dataloader)
-
     dl_iter = cycle(dataloader)
 
     policy.train()
@@ -288,68 +252,22 @@ def train(cfg: TrainPipelineConfig):
     )
 
     logging.info("Start offline training on a fixed dataset")
-
-    # Calculate gradient accumulation steps for multi-GPU training
-    # This ensures effective batch size matches single-GPU training
-    gradient_accumulation_steps = accelerator.num_processes if accelerator is not None else 1
-    if accelerator and accelerator.is_main_process:
-        logging.info(f"Using gradient accumulation: {gradient_accumulation_steps} steps")
-        logging.info(f"Effective batch size: {cfg.batch_size} (same as single-GPU)")
-
     for _ in range(step, cfg.steps):
-        policy.train()
+        start_time = time.perf_counter()
-        optimizer.zero_grad()
+        batch = next(dl_iter)
+        batch = preprocessor(batch)
+        train_tracker.dataloading_s = time.perf_counter() - start_time
 
-        # Accumulate gradients over multiple mini-batches to match single-GPU effective batch size
+        train_tracker, output_dict = update_policy(
-        accumulated_loss = 0
+            train_tracker,
-        accumulated_output_dict = {}
+            policy,
-
+            batch,
-        for accum_step in range(gradient_accumulation_steps):
+            optimizer,
-            start_time = time.perf_counter()
+            cfg.optimizer.grad_clip_norm,
-            batch = next(dl_iter)
+            grad_scaler=grad_scaler,
-            batch = preprocessor(batch)
+            lr_scheduler=lr_scheduler,
-            if accum_step == 0:  # Only track data loading time once per step
+            use_amp=cfg.policy.use_amp,
-                train_tracker.dataloading_s = time.perf_counter() - start_time
+        )
-
-            # Forward pass
-            start_time = time.perf_counter()
-            with accelerator.autocast() if accelerator else nullcontext():
-                loss, output_dict = policy.forward(batch)
-                # Scale loss by accumulation steps to get proper average
-                loss = loss / gradient_accumulation_steps
-
-            # Backward pass
-            if accelerator:
-                accelerator.backward(loss)
-            else:
-                grad_scaler.scale(loss).backward()
-
-            # Accumulate metrics
-            accumulated_loss += loss.item()
-            if accum_step == 0:
-                accumulated_output_dict = output_dict
-
-        # Gradient clipping and optimizer step
-        if accelerator:
-            accelerator.clip_grad_norm_(policy.parameters(), cfg.optimizer.grad_clip_norm)
-            optimizer.step()
-        else:
-            grad_scaler.unscale_(optimizer)
-            _ = torch.nn.utils.clip_grad_norm_(
-                policy.parameters(), cfg.optimizer.grad_clip_norm, error_if_nonfinite=False
-            )
-            grad_scaler.step(optimizer)
-            grad_scaler.update()
-
-        # Update learning rate scheduler
-        if lr_scheduler is not None:
-            lr_scheduler.step()
-
-        # Update metrics with accumulated values
-        train_tracker.loss = accumulated_loss
-        train_tracker.lr = optimizer.param_groups[0]["lr"]
-        train_tracker.update_s = time.perf_counter() - start_time
-        output_dict = accumulated_output_dict
 
         # Note: eval and checkpoint happens *after* the `step`th training update has completed, so we
         # increment `step` here.