Make sure push_to_hub works

Since PEFT only wraps `push_to_hub` and not `push_model_to_hub`, the reference
to `self` in `policy.push_model_to_hub` is the unwrapped policy which, of course,
doesn't know anything about PEFT.

To make the upload process aware of PEFT, we pass the unwrapped policy down to
`push_model_to_hub` as a kwarg. This is not ideal but I think it is the best way
for now.

tests/test_cli.py

@@ -1,5 +1,6 @@
 import importlib
-from unittest.mock import patch
+import os
+from unittest.mock import MagicMock, patch
 
 import pytest
 from safetensors.torch import load_file
@@ -19,6 +20,40 @@ def lerobot_record(args):
     return run_command(cmd="lerobot-record", module="lerobot_record", args=args)
 
 
+@pytest.mark.parametrize("policy_type", ["smolvla"])
+def test_peft_training_push_to_hub_works(policy_type, tmp_path):
+    """Ensure that push to hub stores PEFT only the adapter, not the full model weights."""
+    output_dir = tmp_path / f"output_{policy_type}"
+    upload_folder_contents = set()
+
+    def mock_upload_folder(*args, **kwargs):
+        folder_path = kwargs['folder_path']
+        # we include more than is actually uploaded since we ignore {allow,ignore}_patterns of upload_folders()
+        upload_folder_contents.update(os.listdir(folder_path))
+        return MagicMock()
+
+    with (
+        patch("huggingface_hub.HfApi.create_repo"),
+        patch("huggingface_hub.HfApi.upload_folder", mock_upload_folder),
+    ):
+        lerobot_train(
+            [
+                f"--policy.type={policy_type}",
+                "--policy.push_to_hub=true",
+                "--policy.repo_id=foo/bar",
+                "--peft.method=LORA",
+                "--dataset.repo_id=lerobot/pusht",
+                "--dataset.episodes=[0, 1]",
+                "--steps=1",
+                f"--output_dir={output_dir}",
+            ]
+        )
+
+        assert 'adapter_model.safetensors' in upload_folder_contents
+        assert 'config.json' in upload_folder_contents
+        assert 'adapter_config.json' in upload_folder_contents
+
+
 @pytest.mark.parametrize("policy_type", ["smolvla"])
 def test_peft_training_works(policy_type, tmp_path):
     """Check whether the standard case of fine-tuning a (partially) pre-trained policy with PEFT works."""