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Merge branch 'main' of github.com:huggingface/lerobot into feature/basic-peft-support

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This commit is contained in:
nemo
2025-06-27 13:55:07 +02:00
parent dc67b2ff3f 2f9ba4e2cc
commit 44245e714e
27 changed files with 780 additions and 381 deletions
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tests/artifacts/policies/save_policy_to_safetensors.py
+1 -1
View File
@@ -32,7 +32,7 @@ def get_policy_stats(ds_repo_id: str, policy_name: str, policy_kwargs: dict):
train_cfg = TrainPipelineConfig(
# TODO(rcadene, aliberts): remove dataset download
dataset=DatasetConfig(repo_id=ds_repo_id, episodes=[0]),
policy=make_policy_config(policy_name, **policy_kwargs),
policy=make_policy_config(policy_name, push_to_hub=False, **policy_kwargs),
)
train_cfg.validate() # Needed for auto-setting some parameters
tests/datasets/test_datasets.py
+2 -1
View File
@@ -338,8 +338,9 @@ def test_factory(env_name, repo_id, policy_name):
# TODO(rcadene, aliberts): remove dataset download
dataset=DatasetConfig(repo_id=repo_id, episodes=[0]),
env=make_env_config(env_name),
policy=make_policy_config(policy_name),
policy=make_policy_config(policy_name, push_to_hub=False),
)
cfg.validate()
dataset = make_dataset(cfg)
delta_timestamps = dataset.delta_timestamps
tests/policies/test_policies.py
+4 -2
View File
@@ -142,9 +142,10 @@ def test_policy(ds_repo_id, env_name, env_kwargs, policy_name, policy_kwargs):
train_cfg = TrainPipelineConfig(
# TODO(rcadene, aliberts): remove dataset download
dataset=DatasetConfig(repo_id=ds_repo_id, episodes=[0]),
policy=make_policy_config(policy_name, **policy_kwargs),
policy=make_policy_config(policy_name, push_to_hub=False, **policy_kwargs),
env=make_env_config(env_name, **env_kwargs),
)
train_cfg.validate()
# Check that we can make the policy object.
dataset = make_dataset(train_cfg)
@@ -213,7 +214,7 @@ def test_act_backbone_lr():
cfg = TrainPipelineConfig(
# TODO(rcadene, aliberts): remove dataset download
dataset=DatasetConfig(repo_id="lerobot/aloha_sim_insertion_scripted", episodes=[0]),
policy=make_policy_config("act", optimizer_lr=0.01, optimizer_lr_backbone=0.001),
policy=make_policy_config("act", optimizer_lr=0.01, optimizer_lr_backbone=0.001, push_to_hub=False),
)
cfg.validate() # Needed for auto-setting some parameters
@@ -415,6 +416,7 @@ def test_backward_compatibility(ds_repo_id: str, policy_name: str, policy_kwargs
https://github.com/huggingface/lerobot/pull/1127.
"""
# NOTE: ACT policy has different randomness, after PyTorch 2.7.0
if policy_name == "act" and version.parse(torch.__version__) < version.parse("2.7.0"):
pytest.skip(f"Skipping act policy test with PyTorch {torch.__version__}. Requires PyTorch >= 2.7.0")