admin/lerobot
1
0
Fork 0
mirror of https://github.com/huggingface/lerobot.git synced 2026-05-16 00:59:46 +00:00
Code Issues Packages Projects Releases Wiki Activity

test(processor): all processors use now the same create_transition (#1906)

Browse Source 
* test(processor): all processors use now the same create_transition

* test(processor): use identity instead of lambda for transition in pipelines
This commit is contained in:
Steven Palma
2025-09-10 18:39:06 +02:00
committed by GitHub
parent df4292f6ed
commit 51588f741b
16 changed files with 229 additions and 422 deletions
Download Patch File Download Diff File Expand all files Collapse all files
tests/processor/test_pi0_processor.py
+13 -27
View File
@@ -34,6 +34,7 @@ from lerobot.processor import (
TransitionKey,
UnnormalizerProcessorStep,
)
from lerobot.processor.converters import create_transition, identity_transition
class MockTokenizerProcessorStep(ProcessorStep):
@@ -52,21 +53,6 @@ class MockTokenizerProcessorStep(ProcessorStep):
return features
def create_transition(observation=None, action=None, **kwargs):
"""Helper function to create a transition dictionary."""
transition = {}
if observation is not None:
transition[TransitionKey.OBSERVATION] = observation
if action is not None:
transition[TransitionKey.ACTION] = action
for key, value in kwargs.items():
if hasattr(TransitionKey, key.upper()):
transition[getattr(TransitionKey, key.upper())] = value
elif key == "complementary_data":
transition[TransitionKey.COMPLEMENTARY_DATA] = value
return transition
def create_default_config():
"""Create a default PI0 configuration for testing."""
config = PI0Config()
@@ -105,8 +91,8 @@ def test_make_pi0_processor_basic():
preprocessor, postprocessor = make_pi0_pre_post_processors(
config,
stats,
preprocessor_kwargs={"to_transition": lambda x: x, "to_output": lambda x: x},
postprocessor_kwargs={"to_transition": lambda x: x, "to_output": lambda x: x},
preprocessor_kwargs={"to_transition": identity_transition, "to_output": identity_transition},
postprocessor_kwargs={"to_transition": identity_transition, "to_output": identity_transition},
)
# Check processor names
@@ -209,8 +195,8 @@ def test_pi0_processor_cuda():
preprocessor, postprocessor = make_pi0_pre_post_processors(
config,
stats,
preprocessor_kwargs={"to_transition": lambda x: x, "to_output": lambda x: x},
postprocessor_kwargs={"to_transition": lambda x: x, "to_output": lambda x: x},
preprocessor_kwargs={"to_transition": identity_transition, "to_output": identity_transition},
postprocessor_kwargs={"to_transition": identity_transition, "to_output": identity_transition},
)
# Create CPU data
@@ -264,8 +250,8 @@ def test_pi0_processor_accelerate_scenario():
preprocessor, postprocessor = make_pi0_pre_post_processors(
config,
stats,
preprocessor_kwargs={"to_transition": lambda x: x, "to_output": lambda x: x},
postprocessor_kwargs={"to_transition": lambda x: x, "to_output": lambda x: x},
preprocessor_kwargs={"to_transition": identity_transition, "to_output": identity_transition},
postprocessor_kwargs={"to_transition": identity_transition, "to_output": identity_transition},
)
# Simulate Accelerate: data already on GPU and batched
@@ -320,8 +306,8 @@ def test_pi0_processor_multi_gpu():
preprocessor, postprocessor = make_pi0_pre_post_processors(
config,
stats,
preprocessor_kwargs={"to_transition": lambda x: x, "to_output": lambda x: x},
postprocessor_kwargs={"to_transition": lambda x: x, "to_output": lambda x: x},
preprocessor_kwargs={"to_transition": identity_transition, "to_output": identity_transition},
postprocessor_kwargs={"to_transition": identity_transition, "to_output": identity_transition},
)
# Simulate data on different GPU
@@ -351,8 +337,8 @@ def test_pi0_processor_without_stats():
preprocessor, postprocessor = make_pi0_pre_post_processors(
config,
dataset_stats=None,
preprocessor_kwargs={"to_transition": lambda x: x, "to_output": lambda x: x},
postprocessor_kwargs={"to_transition": lambda x: x, "to_output": lambda x: x},
preprocessor_kwargs={"to_transition": identity_transition, "to_output": identity_transition},
postprocessor_kwargs={"to_transition": identity_transition, "to_output": identity_transition},
)
# Should still create processors
@@ -390,8 +376,8 @@ def test_pi0_processor_bfloat16_device_float32_normalizer():
preprocessor, _ = make_pi0_pre_post_processors(
config,
stats,
preprocessor_kwargs={"to_transition": lambda x: x, "to_output": lambda x: x},
postprocessor_kwargs={"to_transition": lambda x: x, "to_output": lambda x: x},
preprocessor_kwargs={"to_transition": identity_transition, "to_output": identity_transition},
postprocessor_kwargs={"to_transition": identity_transition, "to_output": identity_transition},
)
# Modify the pipeline to use bfloat16 device processor with float32 normalizer