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CarolinePascal
7daf8f852d
Starts Wave 2. Takes src/lerobot/optim/ to 100% public docstring coverage. Fixes dataclass Args: field order to match the real generated __init__ signature (base-class fields keep their position even when redeclared by a subclass). Adds docs/source/api/optim.mdx, which didn't exist before — needs a _toctree.yml entry from whoever owns that file, see PR description. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
94 lines
2.0 KiB
Plaintext
94 lines
2.0 KiB
Plaintext
# Optimization
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`OptimizerConfig` and `LRSchedulerConfig` are the base configuration classes for the optimizers and learning
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rate schedulers used during training. `TrainPipelineConfig` composes one of each; see
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[`~optim.factory.make_optimizer_and_scheduler`] for how they are built from a policy's parameters.
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## make_optimizer_and_scheduler
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[[autodoc]] lerobot.optim.factory.make_optimizer_and_scheduler
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## OptimizerConfig
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[[autodoc]] lerobot.optim.OptimizerConfig
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- type
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- builds_multiple_optimizers
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- default_choice_name
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- build
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## AdamConfig
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[[autodoc]] lerobot.optim.AdamConfig
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- build
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## AdamWConfig
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[[autodoc]] lerobot.optim.AdamWConfig
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- build
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## SGDConfig
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[[autodoc]] lerobot.optim.SGDConfig
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- build
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## MultiAdamConfig
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Builds a dictionary of Adam optimizers, one per parameter group — used when a policy needs separate
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optimizers for different components (e.g. actor/critic/temperature in SAC).
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[[autodoc]] lerobot.optim.MultiAdamConfig
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- builds_multiple_optimizers
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- build
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## XVLAAdamWConfig
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[[autodoc]] lerobot.optim.XVLAAdamWConfig
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- build
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## save_optimizer_state
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[[autodoc]] lerobot.optim.save_optimizer_state
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## load_optimizer_state
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[[autodoc]] lerobot.optim.load_optimizer_state
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## LRSchedulerConfig
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[[autodoc]] lerobot.optim.LRSchedulerConfig
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- type
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- build
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## DiffuserSchedulerConfig
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[[autodoc]] lerobot.optim.DiffuserSchedulerConfig
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- build
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## VQBeTSchedulerConfig
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[[autodoc]] lerobot.optim.VQBeTSchedulerConfig
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- build
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## ConstantWithWarmupSchedulerConfig
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[[autodoc]] lerobot.optim.schedulers.ConstantWithWarmupSchedulerConfig
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- build
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## CosineAnnealingWithWarmupSchedulerConfig
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[[autodoc]] lerobot.optim.schedulers.CosineAnnealingWithWarmupSchedulerConfig
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- build
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## CosineDecayWithWarmupSchedulerConfig
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[[autodoc]] lerobot.optim.CosineDecayWithWarmupSchedulerConfig
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- build
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## save_scheduler_state
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[[autodoc]] lerobot.optim.save_scheduler_state
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## load_scheduler_state
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[[autodoc]] lerobot.optim.load_scheduler_state
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