Files
lerobot/tests
Pepijn 41166b39fb fix(train): synchronize EpisodeAwareSampler shuffling across ranks and gate dataset download per node (#3768)
* fix(datasets): expose a generator on EpisodeAwareSampler for distributed shuffle sync

In distributed training, accelerate can only synchronize the shuffle
permutation across ranks when the sampler exposes a generator attribute.
EpisodeAwareSampler shuffled via the global torch RNG, so disjoint batch
shards relied on every rank's global CPU RNG staying in lockstep forever;
any rank-asymmetric RNG consumption (e.g. eval rollouts on the main
process only) silently desynced the permutations and ranks trained on
overlapping/missing samples.

* fix(train): seed sampler generator and gate dataset download per node

- Pass a generator seeded with cfg.seed to EpisodeAwareSampler so
  accelerator.prepare registers it as the synchronized RNG and the
  shuffle order is reproducible.
- Gate the initial make_dataset call on is_local_main_process instead of
  is_main_process: the global main process only exists on node 0, so on
  every other node all local ranks were downloading the dataset and
  building the Arrow cache concurrently.
2026-06-11 11:07:42 +02:00
..
2026-05-12 15:49:54 +02:00