Files
lerobot/tests
Pepijn 1842100402 feat(profiling): record forward/backward/optimizer timings
The dashboard expects per-phase timings (forward_s, backward_s,
optimizer_s) in step_timing_summary.json, but only total_update_s
and dataloading_s were collected — leaving every chart except
dataloading empty.

Add a lightweight TrainingProfiler.section(name) context manager
that times a region with torch.cuda.synchronize before and after
(so GPU work is captured, not just the kernel-launch latency) and
accumulates per-section samples into step_timing_summary.json.

Wrap forward, backward (incl. grad clip), and optimizer (incl.
zero_grad and scheduler.step) in update_policy with these sections.
When profiling is off (profiler=None) the wrappers become no-ops,
so training performance is unchanged outside CI.

Made-with: Cursor
2026-04-16 20:26:27 +02:00
..