From 3cbefa445bb6ccc0aae61da7362af5e9523a083d Mon Sep 17 00:00:00 2001 From: Jade Choghari Date: Fri, 27 Feb 2026 16:45:40 +0300 Subject: [PATCH] Fix policy testing for tv5 (#3032) * fix ci logger * other fix * fix mypy * change logits to torch2.10 * skip wallx| * remove logging --------- Co-authored-by: Steven Palma --- .../policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py | 4 ++-- tests/policies/wall_x/test_wallx.py | 6 ++++++ 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/tests/policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py b/tests/policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py index 7b1bbce7d..7a95dc0a3 100644 --- a/tests/policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py +++ b/tests/policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py @@ -60,13 +60,13 @@ MODEL_PATH_LEROBOT = "jadechoghari/pi0fast-base" EXPECTED_ACTION_TOKENS_SHAPE = (1, 2) # Expected first 5 action tokens (for reproducibility check) -EXPECTED_ACTION_TOKENS_FIRST_5 = torch.tensor([255657, 255425]) +EXPECTED_ACTION_TOKENS_FIRST_5 = torch.tensor([255020, 255589]) # Expected actions after detokenization EXPECTED_ACTIONS_SHAPE = (1, 2, 32) # (batch_size, n_action_steps, action_dim) EXPECTED_ACTIONS_MEAN = 0.046403881162405014 EXPECTED_ACTIONS_STD = 0.2607129216194153 -EXPECTED_ACTIONS_FIRST_5 = torch.tensor([-0.0707, 1.4849, 0.0000, 0.0000, 0.0000]) +EXPECTED_ACTIONS_FIRST_5 = torch.tensor([0.0000, 0.3536, 0.0707, 0.0000, 0.0000]) def set_seed_all(seed: int): diff --git a/tests/policies/wall_x/test_wallx.py b/tests/policies/wall_x/test_wallx.py index dcd37b8ef..d57b2a287 100644 --- a/tests/policies/wall_x/test_wallx.py +++ b/tests/policies/wall_x/test_wallx.py @@ -16,9 +16,15 @@ """Test script to verify Wall-X policy integration with LeRobot, only meant to be run locally!""" +import os + import pytest import torch +pytestmark = pytest.mark.skipif( + os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true", + reason="This test exceeds available memory in CI environments.", +) # Skip if required dependencies are not available pytest.importorskip("peft") pytest.importorskip("transformers")