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

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* 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
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tests/processor/test_smolvla_processor.py
+13 -27
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@@ -37,6 +37,7 @@ from lerobot.processor import (
TransitionKey,
UnnormalizerProcessorStep,
)
from lerobot.processor.converters import create_transition, identity_transition
class MockTokenizerProcessorStep(ProcessorStep):
@@ -55,21 +56,6 @@ 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 SmolVLA configuration for testing."""
config = SmolVLAConfig()
@@ -112,8 +98,8 @@ def test_make_smolvla_processor_basic():
preprocessor, postprocessor = make_smolvla_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
@@ -218,8 +204,8 @@ def test_smolvla_processor_cuda():
preprocessor, postprocessor = make_smolvla_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
@@ -275,8 +261,8 @@ def test_smolvla_processor_accelerate_scenario():
preprocessor, postprocessor = make_smolvla_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
@@ -333,8 +319,8 @@ def test_smolvla_processor_multi_gpu():
preprocessor, postprocessor = make_smolvla_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
@@ -366,8 +352,8 @@ def test_smolvla_processor_without_stats():
preprocessor, postprocessor = make_smolvla_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
@@ -419,8 +405,8 @@ def test_smolvla_processor_bfloat16_device_float32_normalizer():
preprocessor, _ = make_smolvla_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