From 2f3525c4a2ce9fbd70efc24b865d68c2b0928f55 Mon Sep 17 00:00:00 2001 From: Eugene Mironov Date: Tue, 11 Nov 2025 23:46:21 +0700 Subject: [PATCH] Add RTC initialization tests without config for PI0.5 and SmolVLA MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Add test_pi05_rtc_initialization_without_rtc_config and test_smolvla_rtc_initialization_without_rtc_config to verify that policies can initialize without RTC config and that _rtc_enabled() returns False in this case. 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude --- tests/policies/pi0_pi05/test_pi05_rtc.py | 19 +++++++++++++++++++ tests/policies/smolvla/test_smolvla_rtc.py | 19 +++++++++++++++++++ 2 files changed, 38 insertions(+) diff --git a/tests/policies/pi0_pi05/test_pi05_rtc.py b/tests/policies/pi0_pi05/test_pi05_rtc.py index cca191024..c5a54b25a 100644 --- a/tests/policies/pi0_pi05/test_pi05_rtc.py +++ b/tests/policies/pi0_pi05/test_pi05_rtc.py @@ -140,6 +140,25 @@ def test_pi05_rtc_initialization(): print("✓ PI0.5 RTC initialization: Test passed") +@require_cuda +def test_pi05_rtc_initialization_without_rtc_config(): + """Test PI0.5 policy can initialize without RTC config.""" + set_seed(42) + + config = PI05Config(max_action_dim=7, max_state_dim=14, dtype="float32") + + # Instantiate policy + policy = PI05Policy(config) + + # Verify RTC processor is not initialized + assert hasattr(policy, "rtc_processor") + assert policy.rtc_processor is None + assert policy.model.rtc_processor is None + assert policy._rtc_enabled() is False + + print("✓ PI0.5 RTC initialization without RTC config: Test passed") + + @require_cuda def test_pi05_rtc_inference_with_prev_chunk(): """Test PI0.5 policy inference with RTC and previous chunk.""" diff --git a/tests/policies/smolvla/test_smolvla_rtc.py b/tests/policies/smolvla/test_smolvla_rtc.py index 1f5a7a524..f14bbf2f6 100644 --- a/tests/policies/smolvla/test_smolvla_rtc.py +++ b/tests/policies/smolvla/test_smolvla_rtc.py @@ -134,6 +134,25 @@ def test_smolvla_rtc_initialization(): print("✓ SmolVLA RTC initialization: Test passed") +@require_cuda +def test_smolvla_rtc_initialization_without_rtc_config(): + """Test SmolVLA policy can initialize without RTC config.""" + set_seed(42) + + config = SmolVLAConfig(max_action_dim=7, chunk_size=50) + + # Instantiate policy + policy = SmolVLAPolicy(config) + + # Verify RTC processor is not initialized + assert hasattr(policy, "rtc_processor") + assert policy.rtc_processor is None + assert policy.model.rtc_processor is None + assert policy._rtc_enabled() is False + + print("✓ SmolVLA RTC initialization without RTC config: Test passed") + + @require_cuda @pytest.mark.skipif(True, reason="Requires pretrained SmolVLA model weights") def test_smolvla_rtc_inference_with_prev_chunk():