lerobot/common/optim/optimizers.py

#!/usr/bin/env python

# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import abc
from dataclasses import asdict, dataclass
from pathlib import Path

import draccus
import torch
from safetensors.torch import load_file, save_file

from lerobot.common.constants import (
    OPTIMIZER_PARAM_GROUPS,
    OPTIMIZER_STATE,
)
from lerobot.common.datasets.utils import flatten_dict, unflatten_dict, write_json
from lerobot.common.utils.io_utils import deserialize_json_into_object


@dataclass
class OptimizerConfig(draccus.ChoiceRegistry, abc.ABC):
    lr: float
    weight_decay: float
    grad_clip_norm: float

    @property
    def type(self) -> str:
        return self.get_choice_name(self.__class__)

    @classmethod
    def default_choice_name(cls) -> str | None:
        return "adam"

    @abc.abstractmethod
    def build(self) -> torch.optim.Optimizer:
        raise NotImplementedError


@OptimizerConfig.register_subclass("adam")
@dataclass
class AdamConfig(OptimizerConfig):
    lr: float = 1e-3
    betas: tuple[float, float] = (0.9, 0.999)
    eps: float = 1e-8
    weight_decay: float = 0.0
    grad_clip_norm: float = 10.0

    def build(self, params: dict) -> torch.optim.Optimizer:
        kwargs = asdict(self)
        kwargs.pop("grad_clip_norm")
        return torch.optim.Adam(params, **kwargs)


@OptimizerConfig.register_subclass("adamw")
@dataclass
class AdamWConfig(OptimizerConfig):
    lr: float = 1e-3
    betas: tuple[float, float] = (0.9, 0.999)
    eps: float = 1e-8
    weight_decay: float = 1e-2
    grad_clip_norm: float = 10.0

    def build(self, params: dict) -> torch.optim.Optimizer:
        kwargs = asdict(self)
        kwargs.pop("grad_clip_norm")
        return torch.optim.AdamW(params, **kwargs)


@OptimizerConfig.register_subclass("sgd")
@dataclass
class SGDConfig(OptimizerConfig):
    lr: float = 1e-3
    momentum: float = 0.0
    dampening: float = 0.0
    nesterov: bool = False
    weight_decay: float = 0.0
    grad_clip_norm: float = 10.0

    def build(self, params: dict) -> torch.optim.Optimizer:
        kwargs = asdict(self)
        kwargs.pop("grad_clip_norm")
        return torch.optim.SGD(params, **kwargs)


def save_optimizer_state(optimizer: torch.optim.Optimizer, save_dir: Path) -> None:
    state = optimizer.state_dict()
    param_groups = state.pop("param_groups")
    flat_state = flatten_dict(state)
    save_file(flat_state, save_dir / OPTIMIZER_STATE)
    write_json(param_groups, save_dir / OPTIMIZER_PARAM_GROUPS)


def load_optimizer_state(optimizer: torch.optim.Optimizer, save_dir: Path) -> torch.optim.Optimizer:
    current_state_dict = optimizer.state_dict()
    flat_state = load_file(save_dir / OPTIMIZER_STATE)
    state = unflatten_dict(flat_state)
    loaded_state_dict = {"state": {int(k): v for k, v in state["state"].items()}}

    if "param_groups" in current_state_dict:
        param_groups = deserialize_json_into_object(
            save_dir / OPTIMIZER_PARAM_GROUPS, current_state_dict["param_groups"]
        )
        loaded_state_dict["param_groups"] = param_groups

    optimizer.load_state_dict(loaded_state_dict)
    return optimizer