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Merge branch 'main' into refactor/reward-models

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This commit is contained in:
Khalil Meftah
2026-03-16 16:37:38 +01:00
parent 49d64c9028 d90e4bcfd3
commit 2412fc093a
138 changed files with 2455 additions and 2875 deletions
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tests/policies/groot/test_groot_lerobot.py
+3 -2
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@@ -28,8 +28,9 @@ import torch
from lerobot.policies.groot.configuration_groot import GrootConfig
from lerobot.policies.groot.modeling_groot import GrootPolicy
from lerobot.policies.groot.processor_groot import make_groot_pre_post_processors
from lerobot.processor import PolicyAction, PolicyProcessorPipeline
from lerobot.utils.utils import auto_select_torch_device
from lerobot.processor import PolicyProcessorPipeline
from lerobot.types import PolicyAction
from lerobot.utils.device_utils import auto_select_torch_device
from tests.utils import require_cuda # noqa: E402
pytest.importorskip("transformers")
tests/policies/groot/test_groot_vs_original.py
+2 -1
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@@ -28,7 +28,8 @@ import torch
from lerobot.policies.groot.configuration_groot import GrootConfig
from lerobot.policies.groot.modeling_groot import GrootPolicy
from lerobot.policies.groot.processor_groot import make_groot_pre_post_processors
from lerobot.processor import PolicyAction, PolicyProcessorPipeline
from lerobot.processor import PolicyProcessorPipeline
from lerobot.types import PolicyAction
pytest.importorskip("gr00t")
pytest.importorskip("transformers")
tests/policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py
+2 -1
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@@ -31,7 +31,8 @@ pytest.importorskip("scipy")
from lerobot.policies.pi0_fast.configuration_pi0_fast import PI0FastConfig
from lerobot.policies.pi0_fast.modeling_pi0_fast import PI0FastPolicy
from lerobot.policies.pi0_fast.processor_pi0_fast import make_pi0_fast_pre_post_processors
from lerobot.processor import PolicyAction, PolicyProcessorPipeline # noqa: E402
from lerobot.processor import PolicyProcessorPipeline # noqa: E402
from lerobot.types import PolicyAction # noqa: E402
from lerobot.utils.constants import (
ACTION_TOKEN_MASK,
ACTION_TOKENS,
tests/policies/pi0_pi05/test_pi05_original_vs_lerobot.py
+2 -1
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@@ -42,7 +42,8 @@ from transformers import AutoTokenizer # noqa: E402
from lerobot.policies.pi05 import PI05Config, PI05Policy # noqa: E402
from lerobot.policies.pi05.processor_pi05 import make_pi05_pre_post_processors # noqa: E402
from lerobot.processor import PolicyAction, PolicyProcessorPipeline # noqa: E402
from lerobot.processor import PolicyProcessorPipeline # noqa: E402
from lerobot.types import PolicyAction # noqa: E402
# TODO: ADDING DEFAULT IMAGES_FEATURES TO CONFIG
DUMMY_ACTION_DIM = 32
tests/policies/pi0_pi05/test_pi0_original_vs_lerobot.py
+2 -1
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@@ -41,7 +41,8 @@ from transformers import AutoTokenizer # noqa: E402
from lerobot.policies.pi0 import PI0Config, PI0Policy # noqa: E402
from lerobot.policies.pi0.processor_pi0 import make_pi0_pre_post_processors # noqa: E402
from lerobot.processor import PolicyAction, PolicyProcessorPipeline # noqa: E402
from lerobot.processor import PolicyProcessorPipeline # noqa: E402
from lerobot.types import PolicyAction # noqa: E402
# TODO: ADDING DEFAULT IMAGES_FEATURES TO CONFIG
DUMMY_ACTION_DIM = 32
tests/policies/test_policies.py
+2 -1
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@@ -28,7 +28,8 @@ from lerobot.configs.default import DatasetConfig
from lerobot.configs.train import TrainPipelineConfig
from lerobot.configs.types import FeatureType, PolicyFeature
from lerobot.datasets.factory import make_dataset
from lerobot.datasets.utils import cycle, dataset_to_policy_features
from lerobot.datasets.feature_utils import dataset_to_policy_features
from lerobot.datasets.utils import cycle
from lerobot.envs.factory import make_env, make_env_config
from lerobot.envs.utils import preprocess_observation
from lerobot.optim.factory import make_optimizer_and_scheduler
tests/policies/xvla/test_xvla_original_vs_lerobot.py
+2 -1
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@@ -30,7 +30,8 @@ pytest.importorskip("transformers")
from lerobot.policies.xvla.configuration_xvla import XVLAConfig
from lerobot.policies.xvla.modeling_xvla import XVLAPolicy
from lerobot.policies.xvla.processor_xvla import make_xvla_pre_post_processors
from lerobot.processor import PolicyAction, PolicyProcessorPipeline # noqa: E402
from lerobot.processor import PolicyProcessorPipeline # noqa: E402
from lerobot.types import PolicyAction # noqa: E402
from lerobot.utils.constants import OBS_IMAGES, OBS_STATE # noqa: E402
from tests.utils import require_cuda # noqa: E402