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