mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-11 14:49:43 +00:00
Steven Palma
126 lines
4.9 KiB
Plaintext
126 lines
4.9 KiB
Plaintext
# Multi-GPU Training
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This guide shows you how to train policies on multiple GPUs using [Hugging Face Accelerate](https://huggingface.co/docs/accelerate).
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## Installation
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`accelerate` is included in the `training` extra. Install it with:
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```bash
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pip install 'lerobot[training]'
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```
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## Training with Multiple GPUs
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You can launch training in two ways:
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### Option 1: Without config (specify parameters directly)
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You can specify all parameters directly in the command without running `accelerate config`:
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```bash
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accelerate launch \
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--multi_gpu \
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--num_processes=2 \
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$(which lerobot-train) \
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--dataset.repo_id=${HF_USER}/my_dataset \
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--policy.type=act \
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--policy.repo_id=${HF_USER}/my_trained_policy \
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--output_dir=outputs/train/act_multi_gpu \
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--job_name=act_multi_gpu \
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--wandb.enable=true
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```
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**Key accelerate parameters:**
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- `--multi_gpu`: Enable multi-GPU training
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- `--num_processes=2`: Number of GPUs to use
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- `--mixed_precision=fp16`: Use fp16 mixed precision (or `bf16` if supported)
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### Option 2: Using accelerate config
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If you prefer to save your configuration, you can optionally configure accelerate for your hardware setup by running:
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```bash
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accelerate config
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```
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This interactive setup will ask you questions about your training environment (number of GPUs, mixed precision settings, etc.) and saves the configuration for future use. For a simple multi-GPU setup on a single machine, you can use these recommended settings:
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- Compute environment: This machine
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- Number of machines: 1
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- Number of processes: (number of GPUs you want to use)
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- GPU ids to use: (leave empty to use all)
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- Mixed precision: fp16 or bf16 (recommended for faster training)
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Then launch training with:
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```bash
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accelerate launch $(which lerobot-train) \
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--dataset.repo_id=${HF_USER}/my_dataset \
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--policy.type=act \
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--policy.repo_id=${HF_USER}/my_trained_policy \
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--output_dir=outputs/train/act_multi_gpu \
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--job_name=act_multi_gpu \
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--wandb.enable=true
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```
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## How It Works
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When you launch training with accelerate:
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1. **Automatic detection**: LeRobot automatically detects if it's running under accelerate
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2. **Data distribution**: Your batch is automatically split across GPUs
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3. **Gradient synchronization**: Gradients are synchronized across GPUs during backpropagation
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4. **Single process logging**: Only the main process logs to wandb and saves checkpoints
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## Learning Rate and Training Steps Scaling
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**Important:** LeRobot does **NOT** automatically scale learning rates or training steps based on the number of GPUs. This gives you full control over your training hyperparameters.
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### Why No Automatic Scaling?
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Many distributed training frameworks automatically scale the learning rate by the number of GPUs (e.g., `lr = base_lr × num_gpus`).
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However, LeRobot keeps the learning rate exactly as you specify it.
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### When and How to Scale
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If you want to scale your hyperparameters when using multiple GPUs, you should do it manually:
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**Learning Rate Scaling:**
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```bash
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# Example: 2 GPUs with linear LR scaling
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# Base LR: 1e-4, with 2 GPUs -> 2e-4
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accelerate launch --num_processes=2 $(which lerobot-train) \
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--optimizer.lr=2e-4 \
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--dataset.repo_id=lerobot/pusht \
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--policy=act
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```
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**Training Steps Scaling:**
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Since the effective batch size `bs` increases with multiple GPUs (batch_size × num_gpus), you may want to reduce the number of training steps proportionally:
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```bash
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# Example: 2 GPUs with effective batch size 2x larger
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# Original: batch_size=8, steps=100000
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# With 2 GPUs: batch_size=8 (16 in total), steps=50000
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accelerate launch --num_processes=2 $(which lerobot-train) \
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--batch_size=8 \
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--steps=50000 \
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--dataset.repo_id=lerobot/pusht \
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--policy=act
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```
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## Notes
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- The `--policy.use_amp` flag in `lerobot-train` is only used when **not** running with accelerate. When using accelerate, mixed precision is controlled by accelerate's configuration.
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- Training logs, checkpoints, and hub uploads are only done by the main process to avoid conflicts. Non-main processes have console logging disabled to prevent duplicate output.
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- The effective batch size is `batch_size × num_gpus`. If you use 4 GPUs with `--batch_size=8`, your effective batch size is 32.
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- Learning rate scheduling is handled correctly across multiple processes—LeRobot sets `step_scheduler_with_optimizer=False` to prevent accelerate from adjusting scheduler steps based on the number of processes.
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- When saving or pushing models, LeRobot automatically unwraps the model from accelerate's distributed wrapper to ensure compatibility.
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- WandB integration automatically initializes only on the main process, preventing multiple runs from being created.
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For more advanced configurations and troubleshooting, see the [Accelerate documentation](https://huggingface.co/docs/accelerate). If you want to learn more about how to train on a large number of GPUs, checkout this awesome guide: [Ultrascale Playbook](https://huggingface.co/spaces/nanotron/ultrascale-playbook).
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