pass entire config to make_optimizer

lerobot/common/policies/act/modeling_act.py

@@ -160,9 +160,8 @@ def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor]:
 
         return loss_dict
 
-    def make_optimizer_and_scheduler(self, **kwargs):
+    def make_optimizer_and_scheduler(self, cfg):
         """Create the optimizer and learning rate scheduler for ACT"""
-        lr, lr_backbone, weight_decay = kwargs["lr"], kwargs["lr_backbone"], kwargs["weight_decay"]
         optimizer_params_dicts = [
             {
                 "params": [
@@ -177,10 +176,12 @@ def make_optimizer_and_scheduler(self, **kwargs):
                     for n, p in self.named_parameters()
                     if n.startswith("model.backbone") and p.requires_grad
                 ],
-                "lr": lr_backbone,
+                "lr": cfg.training.lr_backbone,
             },
         ]
-        optimizer = torch.optim.AdamW(optimizer_params_dicts, lr=lr, weight_decay=weight_decay)
+        optimizer = torch.optim.AdamW(
+            optimizer_params_dicts, lr=cfg.training.lr, weight_decay=cfg.training.weight_decay
+        )
         lr_scheduler = None
         return optimizer, lr_scheduler
 

lerobot/common/policies/diffusion/modeling_diffusion.py

@@ -156,33 +156,22 @@ def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor]:
         loss = self.diffusion.compute_loss(batch)
         return {"loss": loss}
 
-    def make_optimizer_and_scheduler(self, **kwargs):
+    def make_optimizer_and_scheduler(self, cfg):
         """Create the optimizer and learning rate scheduler for Diffusion policy"""
-        lr, adam_betas, adam_eps, adam_weight_decay = (
-            kwargs["lr"],
-            kwargs["adam_betas"],
-            kwargs["adam_eps"],
-            kwargs["adam_weight_decay"],
-        )
-        lr_scheduler_name, lr_warmup_steps, offline_steps = (
-            kwargs["lr_scheduler"],
-            kwargs["lr_warmup_steps"],
-            kwargs["offline_steps"],
-        )
         optimizer = torch.optim.Adam(
             self.diffusion.parameters(),
-            lr,
-            adam_betas,
-            adam_eps,
-            adam_weight_decay,
+            cfg.training.lr,
+            cfg.training.adam_betas,
+            cfg.training.adam_eps,
+            cfg.training.adam_weight_decay,
         )
         from diffusers.optimization import get_scheduler
 
         lr_scheduler = get_scheduler(
-            lr_scheduler_name,
+            cfg.training.lr_scheduler,
             optimizer=optimizer,
-            num_warmup_steps=lr_warmup_steps,
-            num_training_steps=offline_steps,
+            num_warmup_steps=cfg.training.lr_warmup_steps,
+            num_training_steps=cfg.training.offline_steps,
         )
         return optimizer, lr_scheduler
 

lerobot/common/policies/tdmpc/modeling_tdmpc.py

@@ -534,10 +534,9 @@ def update(self):
         # we update every step and adjust the decay parameter `alpha` accordingly (0.99 -> 0.995)
         update_ema_parameters(self.model_target, self.model, self.config.target_model_momentum)
 
-    def make_optimizer_and_scheduler(self, **kwargs):
+    def make_optimizer_and_scheduler(self, cfg):
         """Create the optimizer and learning rate scheduler for TD-MPC"""
-        lr = kwargs["lr"]
-        optimizer = torch.optim.Adam(self.parameters(), lr)
+        optimizer = torch.optim.Adam(self.parameters(), cfg.training.lr)
         lr_scheduler = None
         return optimizer, lr_scheduler
 

lerobot/common/policies/vqbet/modeling_vqbet.py

@@ -152,6 +152,12 @@ def forward(self, batch: dict[str, Tensor]) -> dict[str, Tensor]:
 
         return loss_dict
 
+    def make_optimizer_and_scheduler(self, cfg):
+        """Create the optimizer and learning rate scheduler for VQ-BeT"""
+        optimizer = VQBeTOptimizer(self, cfg)
+        scheduler = VQBeTScheduler(optimizer, cfg)
+        return optimizer, scheduler
+
 
 class SpatialSoftmax(nn.Module):
     """

lerobot/scripts/train.py

@@ -281,7 +281,7 @@ def train(cfg: DictConfig, out_dir: str | None = None, job_name: str | None = No
     assert isinstance(policy, nn.Module)
     # Create optimizer and scheduler
     # Temporary hack to move optimizer out of policy
-    optimizer, lr_scheduler = policy.make_optimizer_and_scheduler(**cfg.training)
+    optimizer, lr_scheduler = policy.make_optimizer_and_scheduler(cfg)
     grad_scaler = GradScaler(enabled=cfg.use_amp)
 
     step = 0  # number of policy updates (forward + backward + optim)

tests/scripts/save_policy_to_safetensors.py

@@ -39,7 +39,7 @@ def get_policy_stats(env_name, policy_name, extra_overrides):
     dataset = make_dataset(cfg)
     policy = make_policy(cfg, dataset_stats=dataset.stats)
     policy.train()
-    optimizer, _ = policy.make_optimizer_and_scheduler(**cfg.training)
+    optimizer, _ = policy.make_optimizer_and_scheduler(cfg)
 
     dataloader = torch.utils.data.DataLoader(
         dataset,

tests/test_policies.py

@@ -213,7 +213,7 @@ def test_act_backbone_lr():
 
     dataset = make_dataset(cfg)
     policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
-    optimizer, _ = policy.make_optimizer_and_scheduler(**cfg.training)
+    optimizer, _ = policy.make_optimizer_and_scheduler(cfg)
     assert len(optimizer.param_groups) == 2
     assert optimizer.param_groups[0]["lr"] == cfg.training.lr
     assert optimizer.param_groups[1]["lr"] == cfg.training.lr_backbone