feat(pi052): add language-supervised policy

2026-07-28 12:15:59 +00:00 · 2026-07-28 10:08:20 +02:00
parent f2b90e3ad6
commit a6f533a6dd
41 changed files with 7406 additions and 289 deletions
@@ -0,0 +1,85 @@
+# Copyright 2026 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.
+
+from types import SimpleNamespace
+
+from lerobot.policies.pi052.inference.pi052_adapter import PI052PolicyAdapter
+from lerobot.runtime import RuntimeState
+from lerobot.runtime.adapter import split_plan_and_say
+
+
+def test_pi052_adapter_builds_recipe_prompts_from_runtime_state():
+    adapter = PI052PolicyAdapter(policy=object())
+    state = RuntimeState(
+        task="clean the kitchen",
+        language_context={"memory": "cup moved", "plan": "pick then place"},
+        extra={"prior_subtask": "pick the cup"},
+    )
+
+    assert adapter.build_messages("subtask", state) == [{"role": "user", "content": "clean the kitchen"}]
+    assert adapter.build_messages("memory", state) == [
+        {"role": "user", "content": "clean the kitchen"},
+        {"role": "assistant", "content": "Previous memory: cup moved"},
+        {"role": "user", "content": "Completed subtask: pick the cup"},
+    ]
+    assert adapter.build_messages("interjection", state, user_text="wait") == [
+        {"role": "user", "content": "clean the kitchen"},
+        {"role": "assistant", "content": "Previous plan:\npick then place"},
+        {"role": "user", "content": "wait"},
+    ]
+
+
+def test_pi052_adapter_strips_say_markers_from_plan_text():
+    adapter = PI052PolicyAdapter(policy=object())
+    text = "Move to the sink. <say>heading to the sink</say>"
+
+    assert split_plan_and_say(text) == ("Move to the sink.", "heading to the sink")
+    assert adapter.plan_from_text(text) == "Move to the sink."
+
+
+def test_rollout_language_cli_smoke_does_not_load_model(monkeypatch):
+    """lerobot-rollout dispatches language flags to the adapter-based runtime."""
+    from lerobot.runtime import cli
+    from lerobot.scripts import lerobot_rollout
+
+    fake_policy = SimpleNamespace(config=SimpleNamespace(device="cpu", type="pi052"))
+
+    monkeypatch.setattr(
+        cli,
+        "_load_policy_and_preprocessor",
+        lambda policy_path, **kwargs: (fake_policy, None, None),
+    )
+    monkeypatch.setattr(cli, "_run_repl", lambda runtime, **kwargs: 0)
+
+    assert lerobot_rollout.main(["--policy.path=fake", "--no_robot", "--task=clean", "--max_ticks=0"]) == 0
+
+
+def test_rollout_language_dispatch_preserves_standard_molmoact2_path(monkeypatch):
+    """MolmoAct2 only opts into open prompting when a language flag is present."""
+    from lerobot.scripts import lerobot_rollout
+
+    standard = [
+        "--policy.path=lerobot/MolmoAct2-SO100_101-LeRobot",
+        "--robot.type=so101_follower",
+        "--task=pick up the cube",
+    ]
+    assert not lerobot_rollout._uses_language_runtime(standard)
+    assert lerobot_rollout._uses_language_runtime([*standard, "--direct_subtask"])
+    assert lerobot_rollout._uses_language_runtime(["--policy.path=lerobot/pi052_robocasa", "--sim"])
+
+    standard_calls = []
+    monkeypatch.setattr(lerobot_rollout, "register_third_party_plugins", lambda: None)
+    monkeypatch.setattr(lerobot_rollout, "rollout", lambda: standard_calls.append(True))
+    lerobot_rollout.main(standard)
+    assert standard_calls == [True]