dgenerate-ultralytics-headless 8.3.196__py3-none-any.whl → 8.3.248__py3-none-any.whl

ultralytics/engine/trainer.py

@@ -6,6 +6,8 @@ Usage:
     $ yolo mode=train model=yolo11n.pt data=coco8.yaml imgsz=640 epochs=100 batch=16
 """
 
+from __future__ import annotations
+
 import gc
 import math
 import os
@@ -42,6 +44,7 @@ from ultralytics.utils.autobatch import check_train_batch_size
 from ultralytics.utils.checks import check_amp, check_file, check_imgsz, check_model_file_from_stem, print_args
 from ultralytics.utils.dist import ddp_cleanup, generate_ddp_command
 from ultralytics.utils.files import get_latest_run
+from ultralytics.utils.plotting import plot_results
 from ultralytics.utils.torch_utils import (
     TORCH_2_4,
     EarlyStopping,
@@ -60,8 +63,7 @@ from ultralytics.utils.torch_utils import (
 
 
 class BaseTrainer:
-    """
-    A base class for creating trainers.
+    """A base class for creating trainers.
 
     This class provides the foundation for training YOLO models, handling the training loop, validation, checkpointing,
     and various training utilities. It supports both single-GPU and multi-GPU distributed training.
@@ -111,17 +113,17 @@ class BaseTrainer:
     """
 
     def __init__(self, cfg=DEFAULT_CFG, overrides=None, _callbacks=None):
-        """
-        Initialize the BaseTrainer class.
+        """Initialize the BaseTrainer class.
 
         Args:
             cfg (str, optional): Path to a configuration file.
             overrides (dict, optional): Configuration overrides.
             _callbacks (list, optional): List of callback functions.
         """
+        self.hub_session = overrides.pop("session", None)  # HUB
         self.args = get_cfg(cfg, overrides)
         self.check_resume(overrides)
-        self.device = select_device(self.args.device, self.args.batch)
+        self.device = select_device(self.args.device)
         # Update "-1" devices so post-training val does not repeat search
         self.args.device = os.getenv("CUDA_VISIBLE_DEVICES") if "cuda" in str(self.device) else str(self.device)
         self.validator = None
@@ -136,7 +138,12 @@ class BaseTrainer:
         if RANK in {-1, 0}:
             self.wdir.mkdir(parents=True, exist_ok=True)  # make dir
             self.args.save_dir = str(self.save_dir)
-            YAML.save(self.save_dir / "args.yaml", vars(self.args))  # save run args
+            # Save run args, serializing augmentations as reprs for resume compatibility
+            args_dict = vars(self.args).copy()
+            if args_dict.get("augmentations") is not None:
+                # Serialize Albumentations transforms as their repr strings for checkpoint compatibility
+                args_dict["augmentations"] = [repr(t) for t in args_dict["augmentations"]]
+            YAML.save(self.save_dir / "args.yaml", args_dict)  # save run args
         self.last, self.best = self.wdir / "last.pt", self.wdir / "best.pt"  # checkpoint paths
         self.save_period = self.args.save_period
 
@@ -168,14 +175,29 @@ class BaseTrainer:
         self.tloss = None
         self.loss_names = ["Loss"]
         self.csv = self.save_dir / "results.csv"
+        if self.csv.exists() and not self.args.resume:
+            self.csv.unlink()
         self.plot_idx = [0, 1, 2]
-
-        # HUB
-        self.hub_session = None
+        self.nan_recovery_attempts = 0
 
         # Callbacks
         self.callbacks = _callbacks or callbacks.get_default_callbacks()
-        if RANK in {-1, 0}:
+
+        if isinstance(self.args.device, str) and len(self.args.device):  # i.e. device='0' or device='0,1,2,3'
+            world_size = len(self.args.device.split(","))
+        elif isinstance(self.args.device, (tuple, list)):  # i.e. device=[0, 1, 2, 3] (multi-GPU from CLI is list)
+            world_size = len(self.args.device)
+        elif self.args.device in {"cpu", "mps"}:  # i.e. device='cpu' or 'mps'
+            world_size = 0
+        elif torch.cuda.is_available():  # i.e. device=None or device='' or device=number
+            world_size = 1  # default to device 0
+        else:  # i.e. device=None or device=''
+            world_size = 0
+
+        self.ddp = world_size > 1 and "LOCAL_RANK" not in os.environ
+        self.world_size = world_size
+        # Run subprocess if DDP training, else train normally
+        if RANK in {-1, 0} and not self.ddp:
             callbacks.add_integration_callbacks(self)
             # Start console logging immediately at trainer initialization
             self.run_callbacks("on_pretrain_routine_start")
@@ -195,31 +217,20 @@ class BaseTrainer:
 
     def train(self):
         """Allow device='', device=None on Multi-GPU systems to default to device=0."""
-        if isinstance(self.args.device, str) and len(self.args.device):  # i.e. device='0' or device='0,1,2,3'
-            world_size = len(self.args.device.split(","))
-        elif isinstance(self.args.device, (tuple, list)):  # i.e. device=[0, 1, 2, 3] (multi-GPU from CLI is list)
-            world_size = len(self.args.device)
-        elif self.args.device in {"cpu", "mps"}:  # i.e. device='cpu' or 'mps'
-            world_size = 0
-        elif torch.cuda.is_available():  # i.e. device=None or device='' or device=number
-            world_size = 1  # default to device 0
-        else:  # i.e. device=None or device=''
-            world_size = 0
-
         # Run subprocess if DDP training, else train normally
-        if world_size > 1 and "LOCAL_RANK" not in os.environ:
+        if self.ddp:
             # Argument checks
             if self.args.rect:
                 LOGGER.warning("'rect=True' is incompatible with Multi-GPU training, setting 'rect=False'")
                 self.args.rect = False
             if self.args.batch < 1.0:
-                LOGGER.warning(
-                    "'batch<1' for AutoBatch is incompatible with Multi-GPU training, setting default 'batch=16'"
+                raise ValueError(
+                    "AutoBatch with batch<1 not supported for Multi-GPU training, "
+                    f"please specify a valid batch size multiple of GPU count {self.world_size}, i.e. batch={self.world_size * 8}."
                 )
-                self.args.batch = 16
 
             # Command
-            cmd, file = generate_ddp_command(world_size, self)
+            cmd, file = generate_ddp_command(self)
             try:
                 LOGGER.info(f"{colorstr('DDP:')} debug command {' '.join(cmd)}")
                 subprocess.run(cmd, check=True)
@@ -229,7 +240,7 @@ class BaseTrainer:
                 ddp_cleanup(self, str(file))
 
         else:
-            self._do_train(world_size)
+            self._do_train()
 
     def _setup_scheduler(self):
         """Initialize training learning rate scheduler."""
@@ -239,32 +250,26 @@ class BaseTrainer:
             self.lf = lambda x: max(1 - x / self.epochs, 0) * (1.0 - self.args.lrf) + self.args.lrf  # linear
         self.scheduler = optim.lr_scheduler.LambdaLR(self.optimizer, lr_lambda=self.lf)
 
-    def _setup_ddp(self, world_size):
+    def _setup_ddp(self):
         """Initialize and set the DistributedDataParallel parameters for training."""
         torch.cuda.set_device(RANK)
         self.device = torch.device("cuda", RANK)
-        # LOGGER.info(f'DDP info: RANK {RANK}, WORLD_SIZE {world_size}, DEVICE {self.device}')
         os.environ["TORCH_NCCL_BLOCKING_WAIT"] = "1"  # set to enforce timeout
         dist.init_process_group(
             backend="nccl" if dist.is_nccl_available() else "gloo",
             timeout=timedelta(seconds=10800),  # 3 hours
             rank=RANK,
-            world_size=world_size,
+            world_size=self.world_size,
         )
 
-    def _setup_train(self, world_size):
+    def _setup_train(self):
         """Build dataloaders and optimizer on correct rank process."""
         ckpt = self.setup_model()
         self.model = self.model.to(self.device)
         self.set_model_attributes()
 
-        # Initialize loss criterion before compilation for torch.compile compatibility
-        if hasattr(self.model, "init_criterion"):
-            self.model.criterion = self.model.init_criterion()
-
         # Compile model
-        if self.args.compile:
-            self.model = attempt_compile(self.model, device=self.device)
+        self.model = attempt_compile(self.model, device=self.device, mode=self.args.compile)
 
         # Freeze layers
         freeze_list = (
@@ -295,13 +300,13 @@ class BaseTrainer:
             callbacks_backup = callbacks.default_callbacks.copy()  # backup callbacks as check_amp() resets them
             self.amp = torch.tensor(check_amp(self.model), device=self.device)
             callbacks.default_callbacks = callbacks_backup  # restore callbacks
-        if RANK > -1 and world_size > 1:  # DDP
+        if RANK > -1 and self.world_size > 1:  # DDP
             dist.broadcast(self.amp.int(), src=0)  # broadcast from rank 0 to all other ranks; gloo errors with boolean
         self.amp = bool(self.amp)  # as boolean
         self.scaler = (
             torch.amp.GradScaler("cuda", enabled=self.amp) if TORCH_2_4 else torch.cuda.amp.GradScaler(enabled=self.amp)
         )
-        if world_size > 1:
+        if self.world_size > 1:
             self.model = nn.parallel.DistributedDataParallel(self.model, device_ids=[RANK], find_unused_parameters=True)
 
         # Check imgsz
@@ -314,22 +319,22 @@ class BaseTrainer:
             self.args.batch = self.batch_size = self.auto_batch()
 
         # Dataloaders
-        batch_size = self.batch_size // max(world_size, 1)
+        batch_size = self.batch_size // max(self.world_size, 1)
         self.train_loader = self.get_dataloader(
             self.data["train"], batch_size=batch_size, rank=LOCAL_RANK, mode="train"
         )
+        # Note: When training DOTA dataset, double batch size could get OOM on images with >2000 objects.
+        self.test_loader = self.get_dataloader(
+            self.data.get("val") or self.data.get("test"),
+            batch_size=batch_size if self.args.task == "obb" else batch_size * 2,
+            rank=LOCAL_RANK,
+            mode="val",
+        )
+        self.validator = self.get_validator()
+        self.ema = ModelEMA(self.model)
         if RANK in {-1, 0}:
-            # Note: When training DOTA dataset, double batch size could get OOM on images with >2000 objects.
-            self.test_loader = self.get_dataloader(
-                self.data.get("val") or self.data.get("test"),
-                batch_size=batch_size if self.args.task == "obb" else batch_size * 2,
-                rank=-1,
-                mode="val",
-            )
-            self.validator = self.get_validator()
             metric_keys = self.validator.metrics.keys + self.label_loss_items(prefix="val")
             self.metrics = dict(zip(metric_keys, [0] * len(metric_keys)))
-            self.ema = ModelEMA(self.model)
             if self.args.plots:
                 self.plot_training_labels()
 
@@ -352,11 +357,11 @@ class BaseTrainer:
         self.scheduler.last_epoch = self.start_epoch - 1  # do not move
         self.run_callbacks("on_pretrain_routine_end")
 
-    def _do_train(self, world_size=1):
+    def _do_train(self):
         """Train the model with the specified world size."""
-        if world_size > 1:
-            self._setup_ddp(world_size)
-        self._setup_train(world_size)
+        if self.world_size > 1:
+            self._setup_ddp()
+        self._setup_train()
 
         nb = len(self.train_loader)  # number of batches
         nw = max(round(self.args.warmup_epochs * nb), 100) if self.args.warmup_epochs > 0 else -1  # warmup iterations
@@ -367,7 +372,7 @@ class BaseTrainer:
         self.run_callbacks("on_train_start")
         LOGGER.info(
             f"Image sizes {self.args.imgsz} train, {self.args.imgsz} val\n"
-            f"Using {self.train_loader.num_workers * (world_size or 1)} dataloader workers\n"
+            f"Using {self.train_loader.num_workers * (self.world_size or 1)} dataloader workers\n"
             f"Logging results to {colorstr('bold', self.save_dir)}\n"
             f"Starting training for " + (f"{self.args.time} hours..." if self.args.time else f"{self.epochs} epochs...")
         )
@@ -414,19 +419,19 @@ class BaseTrainer:
                 # Forward
                 with autocast(self.amp):
                     batch = self.preprocess_batch(batch)
-                    metadata = {k: batch.pop(k, None) for k in ["im_file", "ori_shape", "resized_shape"]}
-                    loss, self.loss_items = self.model(batch)
+                    if self.args.compile:
+                        # Decouple inference and loss calculations for improved compile performance
+                        preds = self.model(batch["img"])
+                        loss, self.loss_items = unwrap_model(self.model).loss(batch, preds)
+                    else:
+                        loss, self.loss_items = self.model(batch)
                     self.loss = loss.sum()
                     if RANK != -1:
-                        self.loss *= world_size
-                    self.tloss = (
-                        (self.tloss * i + self.loss_items) / (i + 1) if self.tloss is not None else self.loss_items
-                    )
+                        self.loss *= self.world_size
+                    self.tloss = self.loss_items if self.tloss is None else (self.tloss * i + self.loss_items) / (i + 1)
 
                 # Backward
                 self.scaler.scale(self.loss).backward()
-
-                # Optimize - https://pytorch.org/docs/master/notes/amp_examples.html
                 if ni - last_opt_step >= self.accumulate:
                     self.optimizer_step()
                     last_opt_step = ni
@@ -456,21 +461,28 @@ class BaseTrainer:
                     )
                     self.run_callbacks("on_batch_end")
                     if self.args.plots and ni in self.plot_idx:
-                        batch = {**batch, **metadata}
                         self.plot_training_samples(batch, ni)
 
                 self.run_callbacks("on_train_batch_end")
 
             self.lr = {f"lr/pg{ir}": x["lr"] for ir, x in enumerate(self.optimizer.param_groups)}  # for loggers
+
             self.run_callbacks("on_train_epoch_end")
             if RANK in {-1, 0}:
-                final_epoch = epoch + 1 >= self.epochs
                 self.ema.update_attr(self.model, include=["yaml", "nc", "args", "names", "stride", "class_weights"])
 
-                # Validation
-                if self.args.val or final_epoch or self.stopper.possible_stop or self.stop:
-                    self._clear_memory(threshold=0.5)  # prevent VRAM spike
-                    self.metrics, self.fitness = self.validate()
+            # Validation
+            final_epoch = epoch + 1 >= self.epochs
+            if self.args.val or final_epoch or self.stopper.possible_stop or self.stop:
+                self._clear_memory(threshold=0.5)  # prevent VRAM spike
+                self.metrics, self.fitness = self.validate()
+
+            # NaN recovery
+            if self._handle_nan_recovery(epoch):
+                continue
+
+            self.nan_recovery_attempts = 0
+            if RANK in {-1, 0}:
                 self.save_metrics(metrics={**self.label_loss_items(self.tloss), **self.metrics, **self.lr})
                 self.stop |= self.stopper(epoch + 1, self.fitness) or final_epoch
                 if self.args.time:
@@ -503,11 +515,11 @@ class BaseTrainer:
                 break  # must break all DDP ranks
             epoch += 1
 
+        seconds = time.time() - self.train_time_start
+        LOGGER.info(f"\n{epoch - self.start_epoch + 1} epochs completed in {seconds / 3600:.3f} hours.")
+        # Do final val with best.pt
+        self.final_eval()
         if RANK in {-1, 0}:
-            # Do final val with best.pt
-            seconds = time.time() - self.train_time_start
-            LOGGER.info(f"\n{epoch - self.start_epoch + 1} epochs completed in {seconds / 3600:.3f} hours.")
-            self.final_eval()
             if self.args.plots:
                 self.plot_metrics()
             self.run_callbacks("on_train_end")
@@ -538,7 +550,7 @@ class BaseTrainer:
                 total = torch.cuda.get_device_properties(self.device).total_memory
         return ((memory / total) if total > 0 else 0) if fraction else (memory / 2**30)
 
-    def _clear_memory(self, threshold: float = None):
+    def _clear_memory(self, threshold: float | None = None):
         """Clear accelerator memory by calling garbage collector and emptying cache."""
         if threshold:
             assert 0 <= threshold <= 1, "Threshold must be between 0 and 1."
@@ -556,7 +568,10 @@ class BaseTrainer:
         """Read results.csv into a dictionary using polars."""
         import polars as pl  # scope for faster 'import ultralytics'
 
-        return pl.read_csv(self.csv, infer_schema_length=None).to_dict(as_series=False)
+        try:
+            return pl.read_csv(self.csv, infer_schema_length=None).to_dict(as_series=False)
+        except Exception:
+            return {}
 
     def _model_train(self):
         """Set model in training mode."""
@@ -580,6 +595,7 @@ class BaseTrainer:
                 "ema": deepcopy(unwrap_model(self.ema.ema)).half(),
                 "updates": self.ema.updates,
                 "optimizer": convert_optimizer_state_dict_to_fp16(deepcopy(self.optimizer.state_dict())),
+                "scaler": self.scaler.state_dict(),
                 "train_args": vars(self.args),  # save as dict
                 "train_metrics": {**self.metrics, **{"fitness": self.fitness}},
                 "train_results": self.read_results_csv(),
@@ -599,6 +615,7 @@ class BaseTrainer:
         serialized_ckpt = buffer.getvalue()  # get the serialized content to save
 
         # Save checkpoints
+        self.wdir.mkdir(parents=True, exist_ok=True)  # ensure weights directory exists
         self.last.write_bytes(serialized_ckpt)  # save last.pt
         if self.best_fitness == self.fitness:
             self.best.write_bytes(serialized_ckpt)  # save best.pt
@@ -606,8 +623,7 @@ class BaseTrainer:
             (self.wdir / f"epoch{self.epoch}.pt").write_bytes(serialized_ckpt)  # save epoch, i.e. 'epoch3.pt'
 
     def get_dataset(self):
-        """
-        Get train and validation datasets from data dictionary.
+        """Get train and validation datasets from data dictionary.
 
         Returns:
             (dict): A dictionary containing the training/validation/test dataset and category names.
@@ -615,7 +631,7 @@ class BaseTrainer:
         try:
             if self.args.task == "classify":
                 data = check_cls_dataset(self.args.data)
-            elif self.args.data.rsplit(".", 1)[-1] == "ndjson":
+            elif str(self.args.data).rsplit(".", 1)[-1] == "ndjson":
                 # Convert NDJSON to YOLO format
                 import asyncio
 
@@ -624,7 +640,7 @@ class BaseTrainer:
                 yaml_path = asyncio.run(convert_ndjson_to_yolo(self.args.data))
                 self.args.data = str(yaml_path)
                 data = check_det_dataset(self.args.data)
-            elif self.args.data.rsplit(".", 1)[-1] in {"yaml", "yml"} or self.args.task in {
+            elif str(self.args.data).rsplit(".", 1)[-1] in {"yaml", "yml"} or self.args.task in {
                 "detect",
                 "segment",
                 "pose",
@@ -642,8 +658,7 @@ class BaseTrainer:
         return data
 
     def setup_model(self):
-        """
-        Load, create, or download model for any task.
+        """Load, create, or download model for any task.
 
         Returns:
             (dict): Optional checkpoint to resume training from.
@@ -664,7 +679,7 @@ class BaseTrainer:
     def optimizer_step(self):
         """Perform a single step of the training optimizer with gradient clipping and EMA update."""
         self.scaler.unscale_(self.optimizer)  # unscale gradients
-        torch.nn.utils.clip_grad_norm_(self.model.parameters(), max_norm=10.0)  # clip gradients
+        torch.nn.utils.clip_grad_norm_(self.model.parameters(), max_norm=10.0)
         self.scaler.step(self.optimizer)
         self.scaler.update()
         self.optimizer.zero_grad()
@@ -676,14 +691,19 @@ class BaseTrainer:
         return batch
 
     def validate(self):
-        """
-        Run validation on val set using self.validator.
+        """Run validation on val set using self.validator.
 
         Returns:
             metrics (dict): Dictionary of validation metrics.
             fitness (float): Fitness score for the validation.
         """
+        if self.ema and self.world_size > 1:
+            # Sync EMA buffers from rank 0 to all ranks
+            for buffer in self.ema.ema.buffers():
+                dist.broadcast(buffer, src=0)
         metrics = self.validator(self)
+        if metrics is None:
+            return None, None
         fitness = metrics.pop("fitness", -self.loss.detach().cpu().numpy())  # use loss as fitness measure if not found
         if not self.best_fitness or self.best_fitness < fitness:
             self.best_fitness = fitness
@@ -694,11 +714,11 @@ class BaseTrainer:
         raise NotImplementedError("This task trainer doesn't support loading cfg files")
 
     def get_validator(self):
-        """Return a NotImplementedError when the get_validator function is called."""
+        """Raise NotImplementedError (must be implemented by subclasses)."""
         raise NotImplementedError("get_validator function not implemented in trainer")
 
     def get_dataloader(self, dataset_path, batch_size=16, rank=0, mode="train"):
-        """Return dataloader derived from torch.data.Dataloader."""
+        """Raise NotImplementedError (must return a `torch.utils.data.DataLoader` in subclasses)."""
         raise NotImplementedError("get_dataloader function not implemented in trainer")
 
     def build_dataset(self, img_path, mode="train", batch=None):
@@ -706,10 +726,9 @@ class BaseTrainer:
         raise NotImplementedError("build_dataset function not implemented in trainer")
 
     def label_loss_items(self, loss_items=None, prefix="train"):
-        """
-        Return a loss dict with labelled training loss items tensor.
+        """Return a loss dict with labeled training loss items tensor.
 
-        Note:
+        Notes:
             This is not needed for classification but necessary for segmentation & detection
         """
         return {"loss": loss_items} if loss_items is not None else ["loss"]
@@ -739,14 +758,15 @@ class BaseTrainer:
         """Save training metrics to a CSV file."""
         keys, vals = list(metrics.keys()), list(metrics.values())
         n = len(metrics) + 2  # number of cols
-        s = "" if self.csv.exists() else (("%s," * n % tuple(["epoch", "time"] + keys)).rstrip(",") + "\n")  # header
         t = time.time() - self.train_time_start
+        self.csv.parent.mkdir(parents=True, exist_ok=True)  # ensure parent directory exists
+        s = "" if self.csv.exists() else ("%s," * n % ("epoch", "time", *keys)).rstrip(",") + "\n"
         with open(self.csv, "a", encoding="utf-8") as f:
-            f.write(s + ("%.6g," * n % tuple([self.epoch + 1, t] + vals)).rstrip(",") + "\n")
+            f.write(s + ("%.6g," * n % (self.epoch + 1, t, *vals)).rstrip(",") + "\n")
 
     def plot_metrics(self):
-        """Plot and display metrics visually."""
-        pass
+        """Plot metrics from a CSV file."""
+        plot_results(file=self.csv, on_plot=self.on_plot)  # save results.png
 
     def on_plot(self, name, data=None):
         """Register plots (e.g. to be consumed in callbacks)."""
@@ -755,20 +775,20 @@ class BaseTrainer:
 
     def final_eval(self):
         """Perform final evaluation and validation for object detection YOLO model."""
-        ckpt = {}
-        for f in self.last, self.best:
-            if f.exists():
-                if f is self.last:
-                    ckpt = strip_optimizer(f)
-                elif f is self.best:
-                    k = "train_results"  # update best.pt train_metrics from last.pt
-                    strip_optimizer(f, updates={k: ckpt[k]} if k in ckpt else None)
-                    LOGGER.info(f"\nValidating {f}...")
-                    self.validator.args.plots = self.args.plots
-                    self.validator.args.compile = False  # disable final val compile as too slow
-                    self.metrics = self.validator(model=f)
-                    self.metrics.pop("fitness", None)
-                    self.run_callbacks("on_fit_epoch_end")
+        model = self.best if self.best.exists() else None
+        with torch_distributed_zero_first(LOCAL_RANK):  # strip only on GPU 0; other GPUs should wait
+            if RANK in {-1, 0}:
+                ckpt = strip_optimizer(self.last) if self.last.exists() else {}
+                if model:
+                    # update best.pt train_metrics from last.pt
+                    strip_optimizer(self.best, updates={"train_results": ckpt.get("train_results")})
+        if model:
+            LOGGER.info(f"\nValidating {model}...")
+            self.validator.args.plots = self.args.plots
+            self.validator.args.compile = False  # disable final val compile as too slow
+            self.metrics = self.validator(model=model)
+            self.metrics.pop("fitness", None)
+            self.run_callbacks("on_fit_epoch_end")
 
     def check_resume(self, overrides):
         """Check if resume checkpoint exists and update arguments accordingly."""
@@ -791,10 +811,29 @@ class BaseTrainer:
                     "batch",
                     "device",
                     "close_mosaic",
+                    "augmentations",
+                    "save_period",
+                    "workers",
+                    "cache",
+                    "patience",
+                    "time",
+                    "freeze",
+                    "val",
+                    "plots",
                 ):  # allow arg updates to reduce memory or update device on resume
                     if k in overrides:
                         setattr(self.args, k, overrides[k])
 
+                # Handle augmentations parameter for resume: check if user provided custom augmentations
+                if ckpt_args.get("augmentations") is not None:
+                    # Augmentations were saved in checkpoint as reprs but can't be restored automatically
+                    LOGGER.warning(
+                        "Custom Albumentations transforms were used in the original training run but are not "
+                        "being restored. To preserve custom augmentations when resuming, you need to pass the "
+                        "'augmentations' parameter again to get expected results. Example: \n"
+                        f"model.train(resume=True, augmentations={ckpt_args['augmentations']})"
+                    )
+
             except Exception as e:
                 raise FileNotFoundError(
                     "Resume checkpoint not found. Please pass a valid checkpoint to resume from, "
@@ -802,18 +841,54 @@ class BaseTrainer:
                 ) from e
         self.resume = resume
 
+    def _load_checkpoint_state(self, ckpt):
+        """Load optimizer, scaler, EMA, and best_fitness from checkpoint."""
+        if ckpt.get("optimizer") is not None:
+            self.optimizer.load_state_dict(ckpt["optimizer"])
+        if ckpt.get("scaler") is not None:
+            self.scaler.load_state_dict(ckpt["scaler"])
+        if self.ema and ckpt.get("ema"):
+            self.ema = ModelEMA(self.model)  # validation with EMA creates inference tensors that can't be updated
+            self.ema.ema.load_state_dict(ckpt["ema"].float().state_dict())
+            self.ema.updates = ckpt["updates"]
+        self.best_fitness = ckpt.get("best_fitness", 0.0)
+
+    def _handle_nan_recovery(self, epoch):
+        """Detect and recover from NaN/Inf loss and fitness collapse by loading last checkpoint."""
+        loss_nan = self.loss is not None and not self.loss.isfinite()
+        fitness_nan = self.fitness is not None and not np.isfinite(self.fitness)
+        fitness_collapse = self.best_fitness and self.best_fitness > 0 and self.fitness == 0
+        corrupted = RANK in {-1, 0} and loss_nan and (fitness_nan or fitness_collapse)
+        reason = "Loss NaN/Inf" if loss_nan else "Fitness NaN/Inf" if fitness_nan else "Fitness collapse"
+        if RANK != -1:  # DDP: broadcast to all ranks
+            broadcast_list = [corrupted if RANK == 0 else None]
+            dist.broadcast_object_list(broadcast_list, 0)
+            corrupted = broadcast_list[0]
+        if not corrupted:
+            return False
+        if epoch == self.start_epoch or not self.last.exists():
+            LOGGER.warning(f"{reason} detected but can not recover from last.pt...")
+            return False  # Cannot recover on first epoch, let training continue
+        self.nan_recovery_attempts += 1
+        if self.nan_recovery_attempts > 3:
+            raise RuntimeError(f"Training failed: NaN persisted for {self.nan_recovery_attempts} epochs")
+        LOGGER.warning(f"{reason} detected (attempt {self.nan_recovery_attempts}/3), recovering from last.pt...")
+        self._model_train()  # set model to train mode before loading checkpoint to avoid inference tensor errors
+        _, ckpt = load_checkpoint(self.last)
+        ema_state = ckpt["ema"].float().state_dict()
+        if not all(torch.isfinite(v).all() for v in ema_state.values() if isinstance(v, torch.Tensor)):
+            raise RuntimeError(f"Checkpoint {self.last} is corrupted with NaN/Inf weights")
+        unwrap_model(self.model).load_state_dict(ema_state)  # Load EMA weights into model
+        self._load_checkpoint_state(ckpt)  # Load optimizer/scaler/EMA/best_fitness
+        del ckpt, ema_state
+        self.scheduler.last_epoch = epoch - 1
+        return True
+
     def resume_training(self, ckpt):
         """Resume YOLO training from given epoch and best fitness."""
         if ckpt is None or not self.resume:
             return
-        best_fitness = 0.0
         start_epoch = ckpt.get("epoch", -1) + 1
-        if ckpt.get("optimizer", None) is not None:
-            self.optimizer.load_state_dict(ckpt["optimizer"])  # optimizer
-            best_fitness = ckpt["best_fitness"]
-        if self.ema and ckpt.get("ema"):
-            self.ema.ema.load_state_dict(ckpt["ema"].float().state_dict())  # EMA
-            self.ema.updates = ckpt["updates"]
         assert start_epoch > 0, (
             f"{self.args.model} training to {self.epochs} epochs is finished, nothing to resume.\n"
             f"Start a new training without resuming, i.e. 'yolo train model={self.args.model}'"
@@ -824,7 +899,7 @@ class BaseTrainer:
                 f"{self.model} has been trained for {ckpt['epoch']} epochs. Fine-tuning for {self.epochs} more epochs."
             )
             self.epochs += ckpt["epoch"]  # finetune additional epochs
-        self.best_fitness = best_fitness
+        self._load_checkpoint_state(ckpt)
         self.start_epoch = start_epoch
         if start_epoch > (self.epochs - self.args.close_mosaic):
             self._close_dataloader_mosaic()
@@ -838,18 +913,16 @@ class BaseTrainer:
             self.train_loader.dataset.close_mosaic(hyp=copy(self.args))
 
     def build_optimizer(self, model, name="auto", lr=0.001, momentum=0.9, decay=1e-5, iterations=1e5):
-        """
-        Construct an optimizer for the given model.
+        """Construct an optimizer for the given model.
 
         Args:
             model (torch.nn.Module): The model for which to build an optimizer.
-            name (str, optional): The name of the optimizer to use. If 'auto', the optimizer is selected
-                based on the number of iterations.
+            name (str, optional): The name of the optimizer to use. If 'auto', the optimizer is selected based on the
+                number of iterations.
             lr (float, optional): The learning rate for the optimizer.
             momentum (float, optional): The momentum factor for the optimizer.
             decay (float, optional): The weight decay for the optimizer.
-            iterations (float, optional): The number of iterations, which determines the optimizer if
-                name is 'auto'.
+            iterations (float, optional): The number of iterations, which determines the optimizer if name is 'auto'.
 
         Returns:
             (torch.optim.Optimizer): The constructed optimizer.