2 Commits

Author	SHA1	Message	Date
alejodosr	266be2bd17	feat(train): add opt-in EMA of the policy weights (--ema.enable=true) (#4323) ... * feat(train): add opt-in EMA of the policy weights (--ema.enable=true) Maintain an EMA shadow via diffusers' EMAModel (lazy import, no new dependency) with the reference Diffusion Policy schedule. Saves the shadow for exact resume plus a loadable pretrained_model_ema/ per checkpoint, evaluates the EMA weights during env eval, and pushes them to a sibling <repo_id>-ema repo. Fixes huggingface/lerobot#4259. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> * docs(diffusion): document the --ema.enable training flag Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> * fix(tests): skip EMA training tests when accelerate/diffusers are missing * feat(train): support constant EMA decay (--ema.decay) for openpi-style policies * fix(train): gate EMA step on sync_gradients; use parallel_dims.is_sharded guard --------- Co-authored-by: Claude Fable 5 <noreply@anthropic.com>	2026-08-07 13:52:23 +02:00
Steven Palma	8c3d4cf900	chore(docs): no policy readme in src code (#3286) ... * chore(docs): move policies readme out of src code * chore(docs): create symlink for policy readme	2026-04-05 19:25:38 +02:00