feat(ci): log into HF to unblock some CI tests

.github/workflows/fast_tests.yml

@@ -61,6 +61,7 @@ jobs:
       MUJOCO_GL: egl
       HF_HOME: /mnt/cache/.cache/huggingface
       HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
+      HF_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     steps:
       - uses: actions/checkout@v6
         with:
@@ -89,5 +90,10 @@ jobs:
       - name: Install lerobot with test extras
         run: uv sync --extra "test"
 
+      - name: Login to Hugging Face
+        run: |
+          uv run huggingface-cli login --token "$HF_TOKEN" --add-to-git-credential
+          uv run huggingface-cli whoami
+
       - name: Run pytest
         run: uv run pytest tests -vv --maxfail=10

.github/workflows/full_tests.yml

@@ -60,6 +60,7 @@ jobs:
       MUJOCO_GL: egl
       HF_HOME: /mnt/cache/.cache/huggingface
       HF_LEROBOT_HOME: /mnt/cache/.cache/huggingface/lerobot
+      HF_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     steps:
       - uses: actions/checkout@v6
         with:
@@ -87,6 +88,11 @@ jobs:
       - name: Install lerobot with all extras
         run: uv sync --extra all # TODO(Steven): Make flash-attn optional
 
+      - name: Login to Hugging Face
+        run: |
+          uv run huggingface-cli login --token "$HF_TOKEN" --add-to-git-credential
+          uv run huggingface-cli whoami
+
       - name: Run pytest (all extras)
         run: uv run pytest tests -vv --maxfail=10
 
@@ -162,6 +168,7 @@ jobs:
       HF_LEROBOT_HOME: /home/user_lerobot/.cache/huggingface/lerobot
       TORCH_HOME: /home/user_lerobot/.cache/torch
       TRITON_CACHE_DIR: /home/user_lerobot/.cache/triton
+      HF_TOKEN: ${{ secrets.LEROBOT_HF_USER }}
     container:
       image: ${{ needs.build-and-push-docker.outputs.image_tag }} # zizmor: ignore[unpinned-images]
       options: --gpus all --shm-size "16gb"
@@ -173,6 +180,10 @@ jobs:
         shell: bash
         working-directory: /lerobot
     steps:
+      - name: Login to Hugging Face
+        run: |
+          huggingface-cli login --token "$HF_TOKEN" --add-to-git-credential
+          huggingface-cli whoami
       - name: Run pytest on GPU
         run: pytest tests -vv --maxfail=10
       - name: Run end-to-end tests

tests/policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py

@@ -17,7 +17,6 @@
 """Test script to verify PI0Fast policy integration with LeRobot vs the original implementation"""
 # ruff: noqa: E402
 
-import os
 import random
 from copy import deepcopy
 from typing import Any
@@ -28,10 +27,6 @@ import torch
 
 pytest.importorskip("transformers")
 pytest.importorskip("scipy")
-pytestmark = pytest.mark.skipif(
-    os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
-    reason="This test requires accepting the model license",
-)
 
 from lerobot.policies.pi0_fast.configuration_pi0_fast import PI0FastConfig
 from lerobot.policies.pi0_fast.modeling_pi0_fast import PI0FastPolicy

tests/policies/pi0_pi05/test_pi0.py

@@ -16,17 +16,8 @@
 
 """Test script to verify PI0 policy integration with LeRobot, only meant to be run locally!"""
 
-import os
-
-import pytest
 import torch
 
-# Skip this entire module in CI
-pytestmark = pytest.mark.skipif(
-    os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
-    reason="This test requires local OpenPI installation and is not meant for CI",
-)
-
 from lerobot.policies.factory import make_policy_config  # noqa: E402
 from lerobot.policies.pi0 import (  # noqa: E402
     PI0Config,

tests/policies/pi0_pi05/test_pi05.py

@@ -16,25 +16,15 @@
 
 """Test script to verify PI0.5 (pi05) support in PI0 policy, only meant to be run locally!"""
 
-import os
-
-import pytest
 import torch
 
-from lerobot.utils.random_utils import set_seed
-
-# Skip this entire module in CI
-pytestmark = pytest.mark.skipif(
-    os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
-    reason="This test requires local OpenPI installation and is not meant for CI",
-)
-
 from lerobot.policies.factory import make_policy_config  # noqa: E402
 from lerobot.policies.pi05 import (  # noqa: E402
     PI05Config,
     PI05Policy,
     make_pi05_pre_post_processors,  # noqa: E402
 )
+from lerobot.utils.random_utils import set_seed
 from tests.utils import require_cuda  # noqa: E402
 
 

tests/policies/pi0_pi05/test_pi05_rtc.py

@@ -16,17 +16,8 @@
 
 """Test PI0.5 policy with Real-Time Chunking (RTC) enabled during inference."""
 
-import os
-
-import pytest
 import torch
 
-# Skip this entire module in CI
-pytestmark = pytest.mark.skipif(
-    os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
-    reason="This test requires local OpenPI installation and is not meant for CI",
-)
-
 from lerobot.configs.types import FeatureType, PolicyFeature, RTCAttentionSchedule  # noqa: E402
 from lerobot.policies.pi05 import PI05Config, PI05Policy, make_pi05_pre_post_processors  # noqa: E402
 from lerobot.policies.rtc.configuration_rtc import RTCConfig  # noqa: E402

tests/policies/pi0_pi05/test_pi0_rtc.py

@@ -16,17 +16,8 @@
 
 """Test PI0 policy with Real-Time Chunking (RTC) enabled during inference."""
 
-import os
-
-import pytest
 import torch
 
-# Skip this entire module in CI
-pytestmark = pytest.mark.skipif(
-    os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
-    reason="This test requires local OpenPI installation and is not meant for CI",
-)
-
 from lerobot.configs.types import FeatureType, PolicyFeature, RTCAttentionSchedule  # noqa: E402
 from lerobot.policies.pi0 import PI0Config, PI0Policy, make_pi0_pre_post_processors  # noqa: E402
 from lerobot.policies.rtc.configuration_rtc import RTCConfig  # noqa: E402

tests/policies/wall_x/test_wallx.py

@@ -16,8 +16,6 @@
 
 """Test script to verify Wall-X policy integration with LeRobot, only meant to be run locally!"""
 
-import os
-
 import pytest
 import torch
 
@@ -26,12 +24,6 @@ pytest.importorskip("peft")
 pytest.importorskip("transformers")
 pytest.importorskip("torchdiffeq")
 
-# Skip this entire module in CI
-pytestmark = pytest.mark.skipif(
-    os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
-    reason="This test requires local Wall-X installation and is not meant for CI",
-)
-
 from lerobot.policies.factory import make_policy_config  # noqa: E402
 from lerobot.policies.wall_x import WallXConfig  # noqa: E402
 from lerobot.policies.wall_x.modeling_wall_x import WallXPolicy  # noqa: E402