args,
):
    """The full training loop.
    If fold_id = -1, this is the full training and we make inferences at last epoch for this test=train set.
    If fold_id = -2, this is pretraining.
    """
    optionnal_trained_model_path, optionnal_trained_model_id = find_pretrained_model(
        args
    )
    model = initialize_model(args, trained_model_path=optionnal_trained_model_path)
    scheduler, optimizer = get_optimizers(model, args)

    set_predictions_interpretation_folder(args)

    all_epochs_train_loss_dict = []
    all_epochs_test_loss_dict = []
    cloud_info_list = None

    for args.current_epoch in range(1, args.n_epoch + 1):
        train_loss_dict = None
        test_loss_dict = None
        args.experiment.set_epoch(args.current_epoch)
        args.experiment.log_metric("learning_rate", scheduler.get_last_lr())

        # train one epoch
        with args.experiment.context_manager(f"fold_{args.current_fold_id}_train"):
            train_loss_dict = train(model, train_set, optimizer, args)
            print_epoch_losses(args.current_epoch, train_loss_dict, train=True)
            args.experiment.log_metrics(
                train_loss_dict, epoch=args.current_epoch, step=train_loss_dict["step"]
            )
            train_loss_dict.update({"epoch": args.current_epoch})
            all_epochs_train_loss_dict.append(train_loss_dict)

        with args.experiment.context_manager(f"fold_{args.current_fold_id}_val"):

            # if not last epoch, we just evaluate performances on test plots, during cross-validation only.
            if (args.current_epoch % args.n_epoch_test == 0) or (
                args.current_epoch > args.epoch_to_start_early_stop
            ):
                test_loss_dict, _ = evaluate(
                    model,
                    test_set,
                    args,
                )
                gc.collect()
                print_epoch_losses(args.current_epoch, test_loss_dict, train=False)
                args.experiment.log_metrics(
                    test_loss_dict,
                    epoch=args.current_epoch,
                    step=test_loss_dict["step"],
                )
                test_loss_dict.update({"epoch": args.current_epoch})
                all_epochs_test_loss_dict.append(test_loss_dict)

                # if we stop early, load model state and generate summary visualizations
                if args.use_early_stopping:
                    if model.stop_early(
                        test_loss_dict["total_loss"], args.current_epoch, args
                    ):
                        logger.info(f"Early stopping at epoch {args.current_epoch}")
                        break

        if (args.current_epoch) == args.n_epoch:
            logger.info(f"Last epoch passed n={args.n_epoch}")
            break

        scheduler.step()

    with args.experiment.context_manager(f"fold_{args.current_fold_id}_val"):

        if args.use_early_stopping:
            logger.info(
                f"Load best model of epoch {model.best_metric_epoch} for final inference."
            )
            model.load_best_state(args)
        else:
            model.save_state(args)

        test_loss_dict, cloud_info_list = evaluate(
            model,
            test_set,
            args,
            last_epoch=True,
        )
        gc.collect()
        if model.stopped_early:
            args.experiment.log_metric("early_stop_epoch", model.best_metric_epoch)
            print_epoch_losses(model.best_metric_epoch, test_loss_dict, train=False)
        else:
            print_epoch_losses(args.current_epoch, test_loss_dict, train=False)

    return model, all_epochs_train_loss_dict, all_epochs_test_loss_dict, cloud_info_list


def get_optimizers(model, args):
    """Get optimize, and scheduler for LR decay."""
    optimizer = optim.Adam(model.parameters(), lr=args.lr, weight_decay=args.wd)
    scheduler = StepLR(optimizer, step_size=args.step_size, gamma=args.lr_decay)
    args.current_step_in_fold = 0
    return scheduler, optimizer


def set_predictions_interpretation_folder(args):
    crossvalidating = args.current_fold_id >= 0

    current_task = "crossval" if crossvalidating else "full"
    args.plot_path = os.path.join(args.stats_path, f"img/plots/{current_task}/")

    create_dir(args.plot_path)


def initialize_model(args, trained_model_path=None):
    """Get a clean NN model, potentially using pretrained weights."""
    model = PointNet2(args)
    logger.info(
        "Total number of parameters: {}".format(
            sum([p.numel() for p in model.parameters()])
        )
    )
    if trained_model_path is not None:
        model.load_state(trained_model_path)
        model.set_patience_attributes(args)

    return model


def find_pretrained_model(args):
    """If the id of a precomputed model is specified, return its path and its id"""
    if args.PT_model_id or args.inference_model_id:
        model_id = args.PT_model_id if args.PT_model_id else args.inference_model_id
        try:
            return get_trained_model_path_from_experiment(args.path, model_id), model_id
        except IndexError:
            logger.error(f"Could not find specified model with id {model_id}")
            raise
            sys.exit(0)
    else:
        return None, None
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