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chore(rollout): remove speculative action order fix

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This commit is contained in:
Pepijn
2026-04-24 16:24:44 +02:00
parent ee737b72d0
commit 727ca1a92c
2 changed files with 9 additions and 82 deletions
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tests/policies/rtc/test_rtc_relative_actions.py
-60
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@@ -225,66 +225,6 @@ class TestRolloutInferenceRelativeActions:
torch.testing.assert_close(action_2, torch.from_numpy(state_1))
assert policy.predict_calls == 1
def test_sync_engine_restores_action_names_for_relative_exclusions(self):
"""Serialized processors may omit action names; sync rollout must still honor gripper exclusions."""
action_names = [f"joint_{i}.pos" for i in range(ACTION_DIM - 1)] + ["gripper.pos"]
relative_step, preprocessor, postprocessor = _make_relative_sync_pipelines(
ACTION_DIM,
action_names=action_names,
exclude_joints=["gripper"],
)
relative_step.action_names = None
policy = _ChunkPolicyStub(action_dim=ACTION_DIM, n_action_steps=1)
policy.config.action_feature_names = action_names
dataset_features = {ACTION: {"names": action_names}}
assert relative_step.action_names is None
engine = SyncInferenceEngine(
policy=policy,
preprocessor=preprocessor,
postprocessor=postprocessor,
dataset_features=dataset_features,
ordered_action_keys=action_names,
task="test",
device="cpu",
robot_type="mock",
)
state = np.arange(1, ACTION_DIM + 1, dtype=np.float32)
action = engine.get_action({OBS_STATE: state.copy()})
expected = torch.from_numpy(state.copy())
expected[-1] = 0.0
torch.testing.assert_close(action, expected)
assert relative_step.action_names == action_names
def test_sync_engine_does_not_remap_chunk_through_dataset_action_names(self):
"""Postprocessed chunks are already in policy order; dataset feature order must not scramble them."""
action_names = [f"joint_{i}.pos" for i in range(ACTION_DIM)]
_, preprocessor, postprocessor = _make_relative_sync_pipelines(
ACTION_DIM,
action_names=action_names,
)
policy = _ChunkPolicyStub(action_dim=ACTION_DIM, n_action_steps=1)
policy.config.action_feature_names = action_names
engine = SyncInferenceEngine(
policy=policy,
preprocessor=preprocessor,
postprocessor=postprocessor,
dataset_features={ACTION: {"names": list(reversed(action_names))}},
ordered_action_keys=action_names,
task="test",
device="cpu",
robot_type="mock",
)
state = np.arange(1, ACTION_DIM + 1, dtype=np.float32)
action = engine.get_action({OBS_STATE: state.copy()})
torch.testing.assert_close(action, torch.from_numpy(state))
def test_rtc_reanchoring_prefers_raw_cached_state(self):
"""RTC re-anchoring must use the raw state cached before observation normalization."""
action_dim = ACTION_DIM