From f3bba0270d6885f0363b638acf28b6a6d7c4f0b7 Mon Sep 17 00:00:00 2001
From: Alexander Soare <alexander.soare159@gmail.com>
Date: Sun, 5 May 2024 11:26:12 +0100
Subject: [PATCH] Remove EMA model from Diffusion Policy (#134)

---
 .../diffusion/configuration_diffusion.py      |   9 --
 .../policies/diffusion/modeling_diffusion.py  |  84 +-----------------
 lerobot/configs/policy/diffusion.yaml         |  13 +--
 lerobot/scripts/eval.py                       |   2 +-
 lerobot/scripts/train.py                      |   3 -
 poetry.lock                                   |   4 +-
 .../pusht_diffusion/actions.safetensors       | Bin 4600 -> 4600 bytes
 .../pusht_diffusion/grad_stats.safetensors    | Bin 47424 -> 47424 bytes
 .../pusht_diffusion/param_stats.safetensors   | Bin 98776 -> 49120 bytes
 tests/scripts/save_policy_to_safetensor.py    |  12 +--
 tests/test_policies.py                        |  11 +++
 11 files changed, 21 insertions(+), 117 deletions(-)

diff --git a/lerobot/common/policies/diffusion/configuration_diffusion.py b/lerobot/common/policies/diffusion/configuration_diffusion.py
index b5188488..73fabefa 100644
--- a/lerobot/common/policies/diffusion/configuration_diffusion.py
+++ b/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"):
diff --git a/lerobot/common/policies/diffusion/modeling_diffusion.py b/lerobot/common/policies/diffusion/modeling_diffusion.py
index c639e2f9..f5f64d80 100644
--- a/lerobot/common/policies/diffusion/modeling_diffusion.py
+++ b/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.ema_diffusion.generate_actions(batch)
-            else:
-                actions = self.diffusion.generate_actions(batch)
+            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
diff --git a/lerobot/configs/policy/diffusion.yaml b/lerobot/configs/policy/diffusion.yaml
index aa90afdf..60061c38 100644
--- a/lerobot/configs/policy/diffusion.yaml
+++ b/lerobot/configs/policy/diffusion.yaml
@@ -1,5 +1,9 @@
 # @package _global_
 
+# Defaults for training for the PushT dataset as per https://github.com/real-stanford/diffusion_policy.
+# Note: We do not track EMA model weights as we discovered it does not improve the results. See
+#       https://github.com/huggingface/lerobot/pull/134 for more details.
+
 seed: 100000
 dataset_repo_id: lerobot/pusht
 
@@ -91,12 +95,3 @@ 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
diff --git a/lerobot/scripts/eval.py b/lerobot/scripts/eval.py
index e3afac41..e9aa3041 100644
--- a/lerobot/scripts/eval.py
+++ b/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,
     )
diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py
index f58dbd06..6cbc8265 100644
--- a/lerobot/scripts/train.py
+++ b/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()
diff --git a/poetry.lock b/poetry.lock
index 1121e68c..616f4a6a 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
 
 [[package]]
 name = "absl-py"
@@ -2407,7 +2407,6 @@ optional = false
 python-versions = ">=3.9"
 files = [
     {file = "pandas-2.2.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:90c6fca2acf139569e74e8781709dccb6fe25940488755716d1d354d6bc58bce"},
-    {file = "pandas-2.2.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:c7adfc142dac335d8c1e0dcbd37eb8617eac386596eb9e1a1b77791cf2498238"},
     {file = "pandas-2.2.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4abfe0be0d7221be4f12552995e58723c7422c80a659da13ca382697de830c08"},
     {file = "pandas-2.2.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8635c16bf3d99040fdf3ca3db669a7250ddf49c55dc4aa8fe0ae0fa8d6dcc1f0"},
     {file = "pandas-2.2.2-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:40ae1dffb3967a52203105a077415a86044a2bea011b5f321c6aa64b379a3f51"},
@@ -2428,7 +2427,6 @@ files = [
     {file = "pandas-2.2.2-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:43498c0bdb43d55cb162cdc8c06fac328ccb5d2eabe3cadeb3529ae6f0517c32"},
     {file = "pandas-2.2.2-cp312-cp312-win_amd64.whl", hash = "sha256:d187d355ecec3629624fccb01d104da7d7f391db0311145817525281e2804d23"},
     {file = "pandas-2.2.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:0ca6377b8fca51815f382bd0b697a0814c8bda55115678cbc94c30aacbb6eff2"},
-    {file = "pandas-2.2.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:9057e6aa78a584bc93a13f0a9bf7e753a5e9770a30b4d758b8d5f2a62a9433cd"},
     {file = "pandas-2.2.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:001910ad31abc7bf06f49dcc903755d2f7f3a9186c0c040b827e522e9cef0863"},
     {file = "pandas-2.2.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:66b479b0bd07204e37583c191535505410daa8df638fd8e75ae1b383851fe921"},
     {file = "pandas-2.2.2-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:a77e9d1c386196879aa5eb712e77461aaee433e54c68cf253053a73b7e49c33a"},
diff --git a/tests/data/save_policy_to_safetensors/pusht_diffusion/actions.safetensors b/tests/data/save_policy_to_safetensors/pusht_diffusion/actions.safetensors
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diff --git a/tests/data/save_policy_to_safetensors/pusht_diffusion/grad_stats.safetensors b/tests/data/save_policy_to_safetensors/pusht_diffusion/grad_stats.safetensors
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diff --git a/tests/data/save_policy_to_safetensors/pusht_diffusion/param_stats.safetensors b/tests/data/save_policy_to_safetensors/pusht_diffusion/param_stats.safetensors
index a26868dbdd2782b49aff295071cb6b42d7d6c617..ade6a9e03118ac410f6f0ff9357b6779074437b6 100644
GIT binary patch
delta 300
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diff --git a/tests/scripts/save_policy_to_safetensor.py b/tests/scripts/save_policy_to_safetensor.py
index 70337c17..29e9a34f 100644
--- a/tests/scripts/save_policy_to_safetensor.py
+++ b/tests/scripts/save_policy_to_safetensor.py
@@ -88,14 +88,8 @@ def save_policy_to_safetensors(output_dir, env_name, policy_name, extra_override
 
 
 if __name__ == "__main__":
-    env_policies = [
-        # ("xarm", "tdmpc", ["policy.n_action_repeats=2"]),
-        (
-            "pusht",
-            "diffusion",
-            ["policy.n_action_steps=8", "policy.num_inference_steps=10", "policy.down_dims=[128, 256, 512]"],
-        ),
-        ("aloha", "act", ["policy.n_action_steps=10"]),
-    ]
+    # Instructions: include the policies that you want to save artifacts for here. Please make sure to revert
+    # your changes when you are done.
+    env_policies = []
     for env, policy, extra_overrides in env_policies:
         save_policy_to_safetensors("tests/data/save_policy_to_safetensors", env, policy, extra_overrides)
diff --git a/tests/test_policies.py b/tests/test_policies.py
index 7d2f19ba..12beec92 100644
--- a/tests/test_policies.py
+++ b/tests/test_policies.py
@@ -249,6 +249,17 @@ def test_normalize(insert_temporal_dim):
 # pass if it's run on another platform due to floating point errors
 @require_x86_64_kernel
 def test_backward_compatibility(env_name, policy_name, extra_overrides):
+    """
+    NOTE: If this test does not pass, and you have intentionally changed something in the policy:
+        1. Inspect the differences in policy outputs and make sure you can account for them. Your PR should
+           include a report on what changed and how that affected the outputs.
+        2. Go to the `if __name__ == "__main__"` block of `test/scripts/save_policy_to_safetensors.py` and
+           add the policies you want to update the test artifacts for.
+        3. Run `python test/scripts/save_policy_to_safetensors.py`. The test artifact should be updated.
+        4. Check that this test now passes.
+        5. Remember to restore `test/scripts/save_policy_to_safetensors.py` to its original state.
+        6. Remember to stage and commit the resulting changes to `tests/data`.
+    """
     env_policy_dir = Path("tests/data/save_policy_to_safetensors") / f"{env_name}_{policy_name}"
     saved_output_dict = load_file(env_policy_dir / "output_dict.safetensors")
     saved_grad_stats = load_file(env_policy_dir / "grad_stats.safetensors")