feat(tests): Add comprehensive tests for various policy processors

- Introduced new test files for ACT, Classifier, Diffusion, PI0, SAC, SmolVLA, TDMPC, and VQBeT policy processors. - Each test file includes unit tests to validate functionality, including handling of batch sizes, device management, and data type conversions. - Enhanced test coverage to ensure robustness and reliability of processor implementations across different scenarios.
2026-05-15 08:39:49 +00:00 · 2025-08-08 19:34:50 +02:00
parent 5ca3920611
commit 5bf82f8229
8 changed files with 2680 additions and 0 deletions
@@ -0,0 +1,336 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+"""Tests for PI0 policy processor."""
+
+from unittest.mock import patch
+
+import pytest
+import torch
+
+from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
+from lerobot.constants import ACTION, OBS_IMAGE, OBS_STATE
+from lerobot.policies.pi0.configuration_pi0 import PI0Config
+from lerobot.policies.pi0.processor_pi0 import Pi0NewLineProcessor, make_pi0_processor
+from lerobot.processor import (
+    DeviceProcessor,
+    NormalizerProcessor,
+    RenameProcessor,
+    ToBatchProcessor,
+    UnnormalizerProcessor,
+)
+from lerobot.processor.pipeline import TransitionKey
+
+
+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()
+    config.input_features = {
+        OBS_STATE: PolicyFeature(type=FeatureType.STATE, shape=(10,)),
+        OBS_IMAGE: PolicyFeature(type=FeatureType.VISUAL, shape=(3, 224, 224)),
+    }
+    config.output_features = {
+        ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(6,)),
+    }
+    config.normalization_mapping = {
+        FeatureType.STATE: NormalizationMode.MEAN_STD,
+        FeatureType.VISUAL: NormalizationMode.IDENTITY,
+        FeatureType.ACTION: NormalizationMode.MIN_MAX,
+    }
+    config.device = "cpu"
+    config.tokenizer_max_length = 128
+    return config
+
+
+def create_default_stats():
+    """Create default dataset statistics for testing."""
+    return {
+        OBS_STATE: {"mean": torch.zeros(10), "std": torch.ones(10)},
+        OBS_IMAGE: {},  # No normalization for images
+        ACTION: {"min": torch.full((6,), -1.0), "max": torch.ones(6)},
+    }
+
+
+def test_make_pi0_processor_basic():
+    """Test basic creation of PI0 processor."""
+    config = create_default_config()
+    stats = create_default_stats()
+
+    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessor"):
+        preprocessor, postprocessor = make_pi0_processor(config, stats)
+
+    # Check processor names
+    assert preprocessor.name == "robot_preprocessor"
+    assert postprocessor.name == "robot_postprocessor"
+
+    # Check steps in preprocessor
+    assert len(preprocessor.steps) == 6
+    assert isinstance(preprocessor.steps[0], RenameProcessor)
+    assert isinstance(preprocessor.steps[1], NormalizerProcessor)
+    assert isinstance(preprocessor.steps[2], ToBatchProcessor)
+    assert isinstance(preprocessor.steps[3], Pi0NewLineProcessor)
+    # Step 4 would be TokenizerProcessor but it's mocked
+    assert isinstance(preprocessor.steps[5], DeviceProcessor)
+
+    # Check steps in postprocessor
+    assert len(postprocessor.steps) == 2
+    assert isinstance(postprocessor.steps[0], DeviceProcessor)
+    assert isinstance(postprocessor.steps[1], UnnormalizerProcessor)
+
+
+def test_pi0_newline_processor_single_task():
+    """Test Pi0NewLineProcessor with single task string."""
+    processor = Pi0NewLineProcessor()
+
+    # Test with task that doesn't have newline
+    transition = create_transition(complementary_data={"task": "test task"})
+    result = processor(transition)
+    assert result[TransitionKey.COMPLEMENTARY_DATA]["task"] == "test task\n"
+
+    # Test with task that already has newline
+    transition = create_transition(complementary_data={"task": "test task\n"})
+    result = processor(transition)
+    assert result[TransitionKey.COMPLEMENTARY_DATA]["task"] == "test task\n"
+
+
+def test_pi0_newline_processor_list_of_tasks():
+    """Test Pi0NewLineProcessor with list of task strings."""
+    processor = Pi0NewLineProcessor()
+
+    # Test with list of tasks
+    tasks = ["task1", "task2\n", "task3"]
+    transition = create_transition(complementary_data={"task": tasks})
+    result = processor(transition)
+    expected = ["task1\n", "task2\n", "task3\n"]
+    assert result[TransitionKey.COMPLEMENTARY_DATA]["task"] == expected
+
+
+def test_pi0_newline_processor_empty_transition():
+    """Test Pi0NewLineProcessor with empty transition."""
+    processor = Pi0NewLineProcessor()
+
+    # Test with no complementary_data
+    transition = create_transition()
+    result = processor(transition)
+    assert result == transition
+
+    # Test with complementary_data but no task
+    transition = create_transition(complementary_data={"other": "data"})
+    result = processor(transition)
+    assert result == transition
+
+    # Test with None task
+    transition = create_transition(complementary_data={"task": None})
+    result = processor(transition)
+    assert result == transition
+
+
+@pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
+def test_pi0_processor_cuda():
+    """Test PI0 processor with CUDA device."""
+    config = create_default_config()
+    config.device = "cuda"
+    stats = create_default_stats()
+
+    # Mock the tokenizer processor to act as pass-through
+    class MockTokenizerProcessor:
+        def __init__(self, *args, **kwargs):
+            pass
+
+        def __call__(self, transition):
+            return transition
+
+        def state_dict(self):
+            return {}
+
+        def load_state_dict(self, state):
+            pass
+
+        def reset(self):
+            pass
+
+        def get_config(self):
+            return {"tokenizer_name": "google/paligemma-3b-pt-224"}
+
+        def transform_features(self, features):
+            return features
+
+    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessor", MockTokenizerProcessor):
+        preprocessor, postprocessor = make_pi0_processor(config, stats)
+
+    # Create CPU data
+    observation = {
+        OBS_STATE: torch.randn(10),
+        OBS_IMAGE: torch.randn(3, 224, 224),
+    }
+    action = torch.randn(6)
+    transition = create_transition(observation, action, complementary_data={"task": "test task"})
+
+    # Process through preprocessor
+    processed = preprocessor(transition)
+
+    # Check that data is on CUDA
+    assert processed[TransitionKey.OBSERVATION][OBS_STATE].device.type == "cuda"
+    assert processed[TransitionKey.OBSERVATION][OBS_IMAGE].device.type == "cuda"
+    assert processed[TransitionKey.ACTION].device.type == "cuda"
+
+
+@pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
+def test_pi0_processor_accelerate_scenario():
+    """Test PI0 processor in simulated Accelerate scenario."""
+    config = create_default_config()
+    config.device = "cuda:0"
+    stats = create_default_stats()
+
+    # Mock the tokenizer processor to act as pass-through
+    class MockTokenizerProcessor:
+        def __init__(self, *args, **kwargs):
+            pass
+
+        def __call__(self, transition):
+            return transition
+
+        def state_dict(self):
+            return {}
+
+        def load_state_dict(self, state):
+            pass
+
+        def reset(self):
+            pass
+
+        def get_config(self):
+            return {"tokenizer_name": "google/paligemma-3b-pt-224"}
+
+        def transform_features(self, features):
+            return features
+
+    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessor", MockTokenizerProcessor):
+        preprocessor, postprocessor = make_pi0_processor(config, stats)
+
+    # Simulate Accelerate: data already on GPU and batched
+    device = torch.device("cuda:0")
+    observation = {
+        OBS_STATE: torch.randn(1, 10).to(device),
+        OBS_IMAGE: torch.randn(1, 3, 224, 224).to(device),
+    }
+    action = torch.randn(1, 6).to(device)
+    transition = create_transition(observation, action, complementary_data={"task": ["test task"]})
+
+    # Process through preprocessor
+    processed = preprocessor(transition)
+
+    # Check that data stays on same GPU
+    assert processed[TransitionKey.OBSERVATION][OBS_STATE].device == device
+    assert processed[TransitionKey.OBSERVATION][OBS_IMAGE].device == device
+    assert processed[TransitionKey.ACTION].device == device
+
+
+@pytest.mark.skipif(torch.cuda.device_count() < 2, reason="Requires at least 2 GPUs")
+def test_pi0_processor_multi_gpu():
+    """Test PI0 processor with multi-GPU setup."""
+    config = create_default_config()
+    config.device = "cuda:0"
+    stats = create_default_stats()
+
+    # Mock the tokenizer processor to act as pass-through
+    class MockTokenizerProcessor:
+        def __init__(self, *args, **kwargs):
+            pass
+
+        def __call__(self, transition):
+            return transition
+
+        def state_dict(self):
+            return {}
+
+        def load_state_dict(self, state):
+            pass
+
+        def reset(self):
+            pass
+
+        def get_config(self):
+            return {"tokenizer_name": "google/paligemma-3b-pt-224"}
+
+        def transform_features(self, features):
+            return features
+
+    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessor", MockTokenizerProcessor):
+        preprocessor, postprocessor = make_pi0_processor(config, stats)
+
+    # Simulate data on different GPU
+    device = torch.device("cuda:1")
+    observation = {
+        OBS_STATE: torch.randn(1, 10).to(device),
+        OBS_IMAGE: torch.randn(1, 3, 224, 224).to(device),
+    }
+    action = torch.randn(1, 6).to(device)
+    transition = create_transition(observation, action, complementary_data={"task": ["test task"]})
+
+    # Process through preprocessor
+    processed = preprocessor(transition)
+
+    # Check that data stays on cuda:1
+    assert processed[TransitionKey.OBSERVATION][OBS_STATE].device == device
+    assert processed[TransitionKey.OBSERVATION][OBS_IMAGE].device == device
+    assert processed[TransitionKey.ACTION].device == device
+
+
+def test_pi0_processor_without_stats():
+    """Test PI0 processor creation without dataset statistics."""
+    config = create_default_config()
+
+    # Mock the tokenizer processor
+    with patch("lerobot.policies.pi0.processor_pi0.TokenizerProcessor"):
+        preprocessor, postprocessor = make_pi0_processor(config, dataset_stats=None)
+
+    # Should still create processors
+    assert preprocessor is not None
+    assert postprocessor is not None
+
+
+def test_pi0_newline_processor_state_dict():
+    """Test Pi0NewLineProcessor state dict methods."""
+    processor = Pi0NewLineProcessor()
+
+    # Test state_dict (should be empty)
+    state = processor.state_dict()
+    assert state == {}
+
+    # Test load_state_dict (should do nothing)
+    processor.load_state_dict({})
+
+    # Test reset (should do nothing)
+    processor.reset()
+
+    # Test get_config
+    config = processor.get_config()
+    assert config == {}