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refactor(policies): rename policies/sac → policies/gaussian_actor

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This commit is contained in:
Khalil Meftah
2026-04-23 19:13:18 +02:00
parent 8065bf15c7
commit 06255996ea
24 changed files with 185 additions and 168 deletions
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tests/processor/test_classifier_processor.py
+2 -2
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@@ -21,8 +21,8 @@ import pytest
import torch
from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
from lerobot.policies.sac.reward_model.processor_classifier import make_classifier_processor
from lerobot.policies.gaussian_actor.reward_model.configuration_classifier import RewardClassifierConfig
from lerobot.policies.gaussian_actor.reward_model.processor_classifier import make_classifier_processor
from lerobot.processor import (
DataProcessorPipeline,
DeviceProcessorStep,
tests/processor/test_sac_processor.py → tests/processor/test_gaussian_actor_processor.py
+24 -24
View File
@@ -21,8 +21,8 @@ import pytest
import torch
from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
from lerobot.policies.sac.configuration_sac import SACConfig
from lerobot.policies.sac.processor_sac import make_sac_pre_post_processors
from lerobot.policies.gaussian_actor.configuration_gaussian_actor import GaussianActorConfig
from lerobot.policies.gaussian_actor.processor_gaussian_actor import make_gaussian_actor_pre_post_processors
from lerobot.processor import (
AddBatchDimensionProcessorStep,
DataProcessorPipeline,
@@ -38,7 +38,7 @@ from lerobot.utils.constants import ACTION, OBS_STATE
def create_default_config():
"""Create a default SAC configuration for testing."""
config = SACConfig()
config = GaussianActorConfig()
config.input_features = {
OBS_STATE: PolicyFeature(type=FeatureType.STATE, shape=(10,)),
}
@@ -66,7 +66,7 @@ def test_make_sac_processor_basic():
config = create_default_config()
stats = create_default_stats()
preprocessor, postprocessor = make_sac_pre_post_processors(
preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
config,
stats,
)
@@ -88,12 +88,12 @@ def test_make_sac_processor_basic():
assert isinstance(postprocessor.steps[1], DeviceProcessorStep)
def test_sac_processor_normalization_modes():
def test_gaussian_actor_processor_normalization_modes():
"""Test that SAC processor correctly handles different normalization modes."""
config = create_default_config()
stats = create_default_stats()
preprocessor, postprocessor = make_sac_pre_post_processors(
preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
config,
stats,
)
@@ -121,13 +121,13 @@ def test_sac_processor_normalization_modes():
@pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
def test_sac_processor_cuda():
def test_gaussian_actor_processor_cuda():
"""Test SAC processor with CUDA device."""
config = create_default_config()
config.device = "cuda"
stats = create_default_stats()
preprocessor, postprocessor = make_sac_pre_post_processors(
preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
config,
stats,
)
@@ -153,13 +153,13 @@ def test_sac_processor_cuda():
@pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
def test_sac_processor_accelerate_scenario():
def test_gaussian_actor_processor_accelerate_scenario():
"""Test SAC processor in simulated Accelerate scenario."""
config = create_default_config()
config.device = "cuda:0"
stats = create_default_stats()
preprocessor, postprocessor = make_sac_pre_post_processors(
preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
config,
stats,
)
@@ -180,13 +180,13 @@ def test_sac_processor_accelerate_scenario():
@pytest.mark.skipif(torch.cuda.device_count() < 2, reason="Requires at least 2 GPUs")
def test_sac_processor_multi_gpu():
def test_gaussian_actor_processor_multi_gpu():
"""Test SAC processor with multi-GPU setup."""
config = create_default_config()
config.device = "cuda:0"
stats = create_default_stats()
preprocessor, postprocessor = make_sac_pre_post_processors(
preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
config,
stats,
)
@@ -206,11 +206,11 @@ def test_sac_processor_multi_gpu():
assert processed[TransitionKey.ACTION.value].device == device
def test_sac_processor_without_stats():
def test_gaussian_actor_processor_without_stats():
"""Test SAC processor creation without dataset statistics."""
config = create_default_config()
preprocessor, postprocessor = make_sac_pre_post_processors(config, dataset_stats=None)
preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(config, dataset_stats=None)
# Should still create processors
assert preprocessor is not None
@@ -226,12 +226,12 @@ def test_sac_processor_without_stats():
assert processed is not None
def test_sac_processor_save_and_load():
def test_gaussian_actor_processor_save_and_load():
"""Test saving and loading SAC processor."""
config = create_default_config()
stats = create_default_stats()
preprocessor, postprocessor = make_sac_pre_post_processors(
preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
config,
stats,
)
@@ -257,14 +257,14 @@ def test_sac_processor_save_and_load():
@pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
def test_sac_processor_mixed_precision():
def test_gaussian_actor_processor_mixed_precision():
"""Test SAC processor with mixed precision."""
config = create_default_config()
config.device = "cuda"
stats = create_default_stats()
# Create processor
preprocessor, postprocessor = make_sac_pre_post_processors(
preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
config,
stats,
)
@@ -304,12 +304,12 @@ def test_sac_processor_mixed_precision():
assert processed[TransitionKey.ACTION.value].dtype == torch.float16
def test_sac_processor_batch_data():
def test_gaussian_actor_processor_batch_data():
"""Test SAC processor with batched data."""
config = create_default_config()
stats = create_default_stats()
preprocessor, postprocessor = make_sac_pre_post_processors(
preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
config,
stats,
)
@@ -329,12 +329,12 @@ def test_sac_processor_batch_data():
assert processed[TransitionKey.ACTION.value].shape == (batch_size, 5)
def test_sac_processor_edge_cases():
def test_gaussian_actor_processor_edge_cases():
"""Test SAC processor with edge cases."""
config = create_default_config()
stats = create_default_stats()
preprocessor, postprocessor = make_sac_pre_post_processors(
preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
config,
stats,
)
@@ -358,13 +358,13 @@ def test_sac_processor_edge_cases():
@pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
def test_sac_processor_bfloat16_device_float32_normalizer():
def test_gaussian_actor_processor_bfloat16_device_float32_normalizer():
"""Test: DeviceProcessor(bfloat16) + NormalizerProcessor(float32) → output bfloat16 via automatic adaptation"""
config = create_default_config()
config.device = "cuda"
stats = create_default_stats()
preprocessor, _ = make_sac_pre_post_processors(
preprocessor, _ = make_gaussian_actor_pre_post_processors(
config,
stats,
)