Add test to instatiate all base models

tests/policies/test_pi0_openpi.py

@@ -51,7 +51,7 @@ def test_policy_instantiation():
         print(f"✓ Forward pass successful. Loss: {loss_dict['loss']:.4f}")
     except Exception as e:
         print(f"✗ Forward pass failed: {e}")
-        return False
+        raise
 
     print("\nTesting action prediction...")
     try:
@@ -60,9 +60,7 @@ def test_policy_instantiation():
         print(f"✓ Action prediction successful. Action shape: {action.shape}")
     except Exception as e:
         print(f"✗ Action prediction failed: {e}")
-        return False
+        raise
-
-    return True
 
 
 @require_nightly_gpu
@@ -80,7 +78,6 @@ def test_config_creation():
         print(f"  Config type: {type(config).__name__}")
         print(f"  PaliGemma variant: {config.paligemma_variant}")
         print(f"  Action expert variant: {config.action_expert_variant}")
-        return True
     except Exception as e:
         print(f"✗ Config creation failed: {e}")
-        return False
+        raise

tests/policies/test_pi0_pi05_hub.py

@@ -2,6 +2,7 @@
 
 """Test script to load PI0OpenPI model from HuggingFace hub and run inference."""
 
+import pytest
 import torch
 
 from lerobot.policies.pi0_openpi import PI0OpenPIPolicy
@@ -234,3 +235,145 @@ def _test_hub_loading(model_id, model_name):
     print("\n" + "=" * 60)
     print(f"✓ All tests passed for {model_name}!")
     print("=" * 60)
+
+
+# Test data for all 6 base models
+MODEL_TEST_PARAMS = [
+    # PI0 models
+    ("pepijn223/pi0_base_fp32", "PI0", PI0OpenPIPolicy),
+    ("pepijn223/pi0_droid_fp32", "PI0", PI0OpenPIPolicy),
+    ("pepijn223/pi0_libero_fp32", "PI0", PI0OpenPIPolicy),
+    # PI0.5 models
+    ("pepijn223/pi05_base_fp32", "PI0.5", PI05OpenPIPolicy),
+    ("pepijn223/pi05_droid_fp32", "PI0.5", PI05OpenPIPolicy),
+    ("pepijn223/pi05_libero_fp32", "PI0.5", PI05OpenPIPolicy),
+]
+
+
+@require_nightly_gpu
+@pytest.mark.parametrize("model_id,model_type,policy_class", MODEL_TEST_PARAMS)
+def test_all_base_models_hub_loading(model_id, model_type, policy_class):
+    """Test loading and basic functionality of all 6 base models from HuggingFace Hub.
+
+    Args:
+        model_id: HuggingFace model ID (e.g., "pepijn223/pi0_base_fp32")
+        model_type: Model type ("PI0" or "PI0.5")
+        policy_class: Policy class to use (PI0OpenPIPolicy or PI05OpenPIPolicy)
+    """
+    print(f"\n{'=' * 80}")
+    print(f"Testing {model_type} model: {model_id}")
+    print(f"{'=' * 80}")
+
+    # Load the model from HuggingFace hub
+    try:
+        policy = policy_class.from_pretrained(model_id, strict=True)
+        print(f"✓ Successfully loaded {model_type} model from {model_id}")
+    except Exception as e:
+        print(f"✗ Failed to load model {model_id}: {e}")
+        raise
+
+    # Get model info
+    device = next(policy.parameters()).device
+    print("\nModel configuration:")
+    print(f"  - Model ID: {model_id}")
+    print(f"  - Model type: {model_type}")
+    print(f"  - PaliGemma variant: {policy.config.paligemma_variant}")
+    print(f"  - Action expert variant: {policy.config.action_expert_variant}")
+    print(f"  - Action dimension: {policy.config.action_dim}")
+    print(f"  - State dimension: {policy.config.state_dim}")
+    print(f"  - Chunk size: {policy.config.chunk_size}")
+    print(f"  - Tokenizer max length: {policy.config.tokenizer_max_length}")
+    print(f"  - Device: {device}")
+    print(f"  - Dtype: {next(policy.parameters()).dtype}")
+
+    # Verify model-specific architecture
+    if model_type == "PI0.5":
+        print(f"  - discrete_state_input: {policy.config.discrete_state_input}")
+        # Verify PI0.5 specific features
+        assert hasattr(policy.model, "time_mlp_in"), f"{model_id}: PI0.5 should have time_mlp_in"
+        assert hasattr(policy.model, "time_mlp_out"), f"{model_id}: PI0.5 should have time_mlp_out"
+        assert not hasattr(policy.model, "state_proj"), f"{model_id}: PI0.5 should not have state_proj"
+        assert not hasattr(policy.model, "action_time_mlp_in"), (
+            f"{model_id}: PI0.5 should not have action_time_mlp_in"
+        )
+        adarms_expert_config = policy.model.paligemma_with_expert.gemma_expert.config.use_adarms
+        assert adarms_expert_config == True, f"{model_id}: PI0.5 expert should use AdaRMS"  # noqa: E712
+        print("  ✓ PI0.5 architecture verified")
+    else:
+        # Verify PI0 specific features
+        assert hasattr(policy.model, "action_time_mlp_in"), f"{model_id}: PI0 should have action_time_mlp_in"
+        assert hasattr(policy.model, "action_time_mlp_out"), (
+            f"{model_id}: PI0 should have action_time_mlp_out"
+        )
+        assert hasattr(policy.model, "state_proj"), f"{model_id}: PI0 should have state_proj"
+        assert not hasattr(policy.model, "time_mlp_in"), f"{model_id}: PI0 should not have time_mlp_in"
+        adarms_expert_config = policy.model.paligemma_with_expert.gemma_expert.config.use_adarms
+        assert adarms_expert_config == False, f"{model_id}: PI0 expert should not use AdaRMS"  # noqa: E712
+        print("  ✓ PI0 architecture verified")
+
+    # Create dummy stats for testing
+    dummy_stats = create_dummy_stats(policy.config)
+    for key, stats in dummy_stats.items():
+        dummy_stats[key] = {
+            "mean": stats["mean"].to(device),
+            "std": stats["std"].to(device),
+        }
+
+    # Initialize normalization layers with dummy stats
+    from lerobot.policies.normalize import Normalize, Unnormalize
+
+    policy.normalize_inputs = Normalize(
+        policy.config.input_features, policy.config.normalization_mapping, dummy_stats
+    )
+    policy.normalize_targets = Normalize(
+        policy.config.output_features, policy.config.normalization_mapping, dummy_stats
+    )
+    policy.unnormalize_outputs = Unnormalize(
+        policy.config.output_features, policy.config.normalization_mapping, dummy_stats
+    )
+
+    # Create test batch
+    batch_size = 1
+    batch = {
+        "observation.state": torch.randn(
+            batch_size, policy.config.state_dim, dtype=torch.float32, device=device
+        ),
+        "action": torch.randn(
+            batch_size, policy.config.chunk_size, policy.config.action_dim, dtype=torch.float32, device=device
+        ),
+        "task": ["Pick up the object"] * batch_size,
+    }
+
+    # Add images based on config
+    for key in policy.config.image_keys:
+        batch[key] = torch.rand(batch_size, 3, 224, 224, dtype=torch.float32, device=device)
+
+    # Test forward pass
+    print(f"\nTesting forward pass for {model_id}...")
+    try:
+        policy.train()
+        loss, loss_dict = policy.forward(batch)
+        assert not torch.isnan(loss), f"{model_id}: Forward pass produced NaN loss"
+        assert loss.item() >= 0, f"{model_id}: Loss should be non-negative"
+        print(f"✓ Forward pass successful - Loss: {loss_dict['loss']:.4f}")
+    except Exception as e:
+        print(f"✗ Forward pass failed for {model_id}: {e}")
+        raise
+
+    # Test action prediction
+    print(f"Testing action prediction for {model_id}...")
+    try:
+        policy.eval()
+        with torch.no_grad():
+            action = policy.select_action(batch)
+        expected_shape = (batch_size, policy.config.action_dim)
+        assert action.shape == expected_shape, (
+            f"{model_id}: Expected action shape {expected_shape}, got {action.shape}"
+        )
+        assert not torch.isnan(action).any(), f"{model_id}: Action contains NaN values"
+        print(f"✓ Action prediction successful - Shape: {action.shape}")
+    except Exception as e:
+        print(f"✗ Action prediction failed for {model_id}: {e}")
+        raise
+
+    print(f"✅ All tests passed for {model_id}!")