def step(self, loss, optimizer, scheduler, update=True):
        """
        Performs one step of the optimizer.
        Applies loss scaling, computes gradients in fp16, converts gradients to
        fp32, inverts scaling and applies optional gradient norm clipping.
        If gradients are finite, it applies update to fp32 master weights and
        copies updated parameters to fp16 model for the next iteration. If
        gradients are not finite, it skips the batch and adjusts scaling factor
        for the next iteration.

        :param loss: value of loss function
        :param optimizer: optimizer
        :param update: if True executes weight update
        """
        loss *= self.loss_scale
        loss.backward()

        if update:
            self.set_grads(self.fp32_params, self.fp16_model.parameters())
            if self.loss_scale != 1.0:
                for param in self.fp32_params:
                    param.grad.data /= self.loss_scale

            norm = clip_grad_norm_(self.fp32_params, self.grad_clip)

            if math.isfinite(norm):
                scheduler.step()
                optimizer.step()
                self.set_weights(self.fp16_model.parameters(),
                                 self.fp32_params)
                self.since_last_invalid += 1
            else:
                self.loss_scale /= self.dls_downscale
                self.since_last_invalid = 0
                logging.info(f'Gradient norm: {norm}')
                logging.info(f'Skipped batch, new scale: {self.loss_scale}')

            if self.since_last_invalid >= self.dls_upscale_interval:
                self.loss_scale *= self.dls_upscale
                self.loss_scale = min(self.loss_scale, 8192.0)
                logging.info(f'Upscaling, new scale: {self.loss_scale}')
                self.since_last_invalid = 0

            self.fp16_model.zero_grad()
Performs one step of the optimizer.
        Applies loss scaling, computes gradients in fp16, converts gradients to
        fp32, inverts scaling and applies optional gradient norm clipping.
        If gradients are finite, it applies update to fp32 master weights and
        copies updated parameters to fp16 model for the next iteration. If
        gradients are not finite, it skips the batch and adjusts scaling factor
        for the next iteration.

        :param loss: value of loss function
        :param optimizer: optimizer
        :param update: if True executes weight update