remove EMA from DP

lerobot/common/policies/diffusion/configuration_diffusion.py

@@ -118,15 +118,6 @@ class DiffusionConfig:
     # Inference
     num_inference_steps: int | None = None
 
-    # ---
-    # TODO(alexander-soare): Remove these from the policy config.
-    use_ema: bool = True
-    ema_update_after_step: int = 0
-    ema_min_alpha: float = 0.0
-    ema_max_alpha: float = 0.9999
-    ema_inv_gamma: float = 1.0
-    ema_power: float = 0.75
-
     def __post_init__(self):
         """Input validation (not exhaustive)."""
         if not self.vision_backbone.startswith("resnet"):

lerobot/common/policies/diffusion/modeling_diffusion.py

@@ -3,12 +3,8 @@
 TODO(alexander-soare):
   - Remove reliance on Robomimic for SpatialSoftmax.
   - Remove reliance on diffusers for DDPMScheduler and LR scheduler.
-  - Move EMA out of policy.
-  - Consolidate _DiffusionUnetImagePolicy into DiffusionPolicy.
-  - One more pass on comments and documentation.
 """
 
-import copy
 import math
 from collections import deque
 from typing import Callable
@@ -21,7 +17,6 @@ from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
 from huggingface_hub import PyTorchModelHubMixin
 from robomimic.models.base_nets import SpatialSoftmax
 from torch import Tensor, nn
-from torch.nn.modules.batchnorm import _BatchNorm
 
 from lerobot.common.policies.diffusion.configuration_diffusion import DiffusionConfig
 from lerobot.common.policies.normalize import Normalize, Unnormalize
@@ -71,13 +66,6 @@ class DiffusionPolicy(nn.Module, PyTorchModelHubMixin):
 
         self.diffusion = DiffusionModel(config)
 
-        # TODO(alexander-soare): This should probably be managed outside of the policy class.
-        self.ema_diffusion = None
-        self.ema = None
-        if self.config.use_ema:
-            self.ema_diffusion = copy.deepcopy(self.diffusion)
-            self.ema = DiffusionEMA(config, model=self.ema_diffusion)
-
     def reset(self):
         """
         Clear observation and action queues. Should be called on `env.reset()`
@@ -109,9 +97,6 @@ class DiffusionPolicy(nn.Module, PyTorchModelHubMixin):
         Note that this means we require: `n_action_steps < horizon - n_obs_steps + 1`. Also, note that
         "horizon" may not the best name to describe what the variable actually means, because this period is
         actually measured from the first observation which (if `n_obs_steps` > 1) happened in the past.
-
-        Note: this method uses the ema model weights if self.training == False, otherwise the non-ema model
-        weights.
         """
         assert "observation.image" in batch
         assert "observation.state" in batch
@@ -123,10 +108,7 @@ class DiffusionPolicy(nn.Module, PyTorchModelHubMixin):
         if len(self._queues["action"]) == 0:
             # stack n latest observations from the queue
             batch = {key: torch.stack(list(self._queues[key]), dim=1) for key in batch}
-            if not self.training and self.ema_diffusion is not None:
+            actions = self.diffusion.generate_actions(batch)
-                actions = self.ema_diffusion.generate_actions(batch)
-            else:
-                actions = self.diffusion.generate_actions(batch)
 
             # TODO(rcadene): make above methods return output dictionary?
             actions = self.unnormalize_outputs({"action": actions})["action"]
@@ -612,67 +594,3 @@ class DiffusionConditionalResidualBlock1d(nn.Module):
         out = self.conv2(out)
         out = out + self.residual_conv(x)
         return out
-
-
-class DiffusionEMA:
-    """
-    Exponential Moving Average of models weights
-    """
-
-    def __init__(self, config: DiffusionConfig, model: nn.Module):
-        """
-        @crowsonkb's notes on EMA Warmup:
-            If gamma=1 and power=1, implements a simple average. gamma=1, power=2/3 are good values for models
-            you plan to train for a million or more steps (reaches decay factor 0.999 at 31.6K steps, 0.9999
-            at 1M steps), gamma=1, power=3/4 for models you plan to train for less (reaches decay factor 0.999
-            at 10K steps, 0.9999 at 215.4k steps).
-        Args:
-            inv_gamma (float): Inverse multiplicative factor of EMA warmup. Default: 1.
-            power (float): Exponential factor of EMA warmup. Default: 2/3.
-            min_alpha (float): The minimum EMA decay rate. Default: 0.
-        """
-
-        self.averaged_model = model
-        self.averaged_model.eval()
-        self.averaged_model.requires_grad_(False)
-
-        self.update_after_step = config.ema_update_after_step
-        self.inv_gamma = config.ema_inv_gamma
-        self.power = config.ema_power
-        self.min_alpha = config.ema_min_alpha
-        self.max_alpha = config.ema_max_alpha
-
-        self.alpha = 0.0
-        self.optimization_step = 0
-
-    def get_decay(self, optimization_step):
-        """
-        Compute the decay factor for the exponential moving average.
-        """
-        step = max(0, optimization_step - self.update_after_step - 1)
-        value = 1 - (1 + step / self.inv_gamma) ** -self.power
-
-        if step <= 0:
-            return 0.0
-
-        return max(self.min_alpha, min(value, self.max_alpha))
-
-    @torch.no_grad()
-    def step(self, new_model):
-        self.alpha = self.get_decay(self.optimization_step)
-
-        for module, ema_module in zip(new_model.modules(), self.averaged_model.modules(), strict=True):
-            # Iterate over immediate parameters only.
-            for param, ema_param in zip(
-                module.parameters(recurse=False), ema_module.parameters(recurse=False), strict=True
-            ):
-                if isinstance(param, dict):
-                    raise RuntimeError("Dict parameter not supported")
-                if isinstance(module, _BatchNorm) or not param.requires_grad:
-                    # Copy BatchNorm parameters, and non-trainable parameters directly.
-                    ema_param.copy_(param.to(dtype=ema_param.dtype).data)
-                else:
-                    ema_param.mul_(self.alpha)
-                    ema_param.add_(param.data.to(dtype=ema_param.dtype), alpha=1 - self.alpha)
-
-        self.optimization_step += 1

lerobot/configs/policy/diffusion.yaml

@@ -91,12 +91,3 @@ policy:
 
   # Inference
   num_inference_steps: 100
-
-  # ---
-  # TODO(alexander-soare): Remove these from the policy config.
-  use_ema: true
-  ema_update_after_step: 0
-  ema_min_alpha: 0.0
-  ema_max_alpha: 0.9999
-  ema_inv_gamma: 1.0
-  ema_power: 0.75

lerobot/scripts/eval.py

@@ -121,7 +121,7 @@ def rollout(
     max_steps = env.call("_max_episode_steps")[0]
     progbar = trange(
         max_steps,
-        desc=f"Running rollout with {max_steps} steps (maximum) per rollout",
+        desc=f"Running rollout with at most {max_steps} steps",
         disable=not enable_progbar,
         leave=False,
     )

lerobot/scripts/train.py

@@ -89,9 +89,6 @@ def update_policy(policy, batch, optimizer, grad_clip_norm, lr_scheduler=None):
     if lr_scheduler is not None:
         lr_scheduler.step()
 
-    if hasattr(policy, "ema") and policy.ema is not None:
-        policy.ema.step(policy.diffusion)
-
     if isinstance(policy, PolicyWithUpdate):
         # To possibly update an internal buffer (for instance an Exponential Moving Average like in TDMPC).
         policy.update()