Merge branch 'main' into feature/add-multitask-dit

tests/policies/test_policies.py

@@ -143,12 +143,18 @@ def test_policy(ds_repo_id, env_name, env_kwargs, policy_name, policy_kwargs):
     Note: We test various combinations of policy and dataset. The combinations are by no means exhaustive,
           and for now we add tests as we see fit.
     """
+    if policy_name == "vqbet" and DEVICE == "mps":
+        pytest.skip("VQBet does not support MPS backend")
+    if policy_name == "act" and "aloha" in ds_repo_id and DEVICE == "mps":
+        pytest.skip("ACT with aloha has batch mutation issues on MPS")
+
     train_cfg = TrainPipelineConfig(
         # TODO(rcadene, aliberts): remove dataset download
         dataset=DatasetConfig(repo_id=ds_repo_id, episodes=[0]),
         policy=make_policy_config(policy_name, push_to_hub=False, **policy_kwargs),
         env=make_env_config(env_name, **env_kwargs),
     )
+    train_cfg.policy.device = DEVICE
     train_cfg.validate()
 
     # Check that we can make the policy object.
@@ -227,6 +233,7 @@ def test_act_backbone_lr():
         dataset=DatasetConfig(repo_id="lerobot/aloha_sim_insertion_scripted", episodes=[0]),
         policy=make_policy_config("act", optimizer_lr=0.01, optimizer_lr_backbone=0.001, push_to_hub=False),
     )
+    cfg.policy.device = DEVICE
     cfg.validate()  # Needed for auto-setting some parameters
 
     assert cfg.policy.optimizer_lr == 0.01

tests/processor/test_pipeline.py

@@ -1870,9 +1870,7 @@ class NonCallableStep(ProcessorStep):
 
 def test_construction_rejects_step_without_call():
     """Test that DataProcessorPipeline rejects steps that don't inherit from ProcessorStep."""
-    with pytest.raises(
-        TypeError, match=r"Can't instantiate abstract class NonCallableStep with abstract method __call_"
-    ):
+    with pytest.raises(TypeError, match=r"Can't instantiate abstract class NonCallableStep"):
         DataProcessorPipeline([NonCallableStep()])
 
     with pytest.raises(TypeError, match=r"must inherit from ProcessorStep"):

tests/utils.py

@@ -22,8 +22,9 @@ import torch
 
 from lerobot import available_cameras, available_motors, available_robots
 from lerobot.utils.import_utils import is_package_available
+from lerobot.utils.utils import auto_select_torch_device
 
-DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", "cuda") if torch.cuda.is_available() else "cpu"
+DEVICE = os.environ.get("LEROBOT_TEST_DEVICE", str(auto_select_torch_device()))
 
 TEST_ROBOT_TYPES = []
 for robot_type in available_robots: