From 047f89cc2a3ce30f54bb1c83ab7a6c4fc503ac0f Mon Sep 17 00:00:00 2001 From: Eugene Mironov Date: Tue, 11 Nov 2025 22:58:11 +0700 Subject: [PATCH] Add one more test --- tests/policies/pi0_pi05/test_pi0_rtc.py | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/tests/policies/pi0_pi05/test_pi0_rtc.py b/tests/policies/pi0_pi05/test_pi0_rtc.py index f76d11ff0..46b145fdb 100644 --- a/tests/policies/pi0_pi05/test_pi0_rtc.py +++ b/tests/policies/pi0_pi05/test_pi0_rtc.py @@ -141,6 +141,21 @@ def test_pi0_rtc_initialization(): @require_cuda +def test_pi0_rtc_initialization_without_rtc_config(): + """Test PI0 policy can initialize without RTC config.""" + set_seed(42) + + config = PI0Config(max_action_dim=7, max_state_dim=14, dtype="float32") + + # Instantiate policy + policy = PI0Policy(config) + + # Verify RTC processor is not initialized + assert not hasattr(policy, "rtc_processor") + + print("✓ PI0 RTC initialization without RTC config: Test passed") + + def test_pi0_rtc_inference_with_prev_chunk(): """Test PI0 policy inference with RTC and previous chunk.""" set_seed(42)