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test(pi052): round-trip coverage for VQA <loc> conversion

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Pins JSON pixel coords -> PaliGemma <loc> -> runtime parse back: the
conversion preserves coordinate order (JSON x-first, <loc> y-first) and
per-axis normalization, losing only <loc>-grid quantization.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-05-19 22:24:24 +02:00
parent c026aed8f8
commit b7317b6c29
1 changed files with 35 additions and 0 deletions
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tests/policies/pi052/test_pi052_vqa_loc.py
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@@ -121,3 +121,38 @@ def test_messages_vqa_to_loc_noop_without_shapes():
messages = [{"role": "assistant", "content": '{"label": "c", "point_format": "xy", "point": [1, 2]}'}]
assert _messages_vqa_to_loc(messages, [0], None) is messages
assert _messages_vqa_to_loc(messages, [0], {}) is messages
# ---------------------------------------------------------------------------
# Round-trip: training-side JSON -> <loc> -> runtime-side parse back to pixels
#
# Pins that the conversion preserves coordinate *order* (JSON is x-first,
# PaliGemma <loc> is y-first) and per-axis normalization. The only loss is
# quantization to the 1024-bucket <loc> grid, so a pixel survives within
# half a bucket (~W/2046, H/2046).
# ---------------------------------------------------------------------------
def test_loc_round_trip_keypoint_preserves_pixels():
from lerobot.policies.smolvla2.inference.vqa import parse_vqa_answer
h, w = 240, 320
answer = {"label": "blue cube", "point_format": "xy", "point": [160, 120]}
loc = _vqa_answer_to_loc(answer, h, w)
parsed = parse_vqa_answer(loc)
nx, ny = parsed["payload"]["point"]
assert abs(nx * w - 160) <= w / 2046 + 1e-6
assert abs(ny * h - 120) <= h / 2046 + 1e-6
assert parsed["payload"]["label"] == "blue cube"
def test_loc_round_trip_bbox_preserves_pixels_and_order():
from lerobot.policies.smolvla2.inference.vqa import parse_vqa_answer
h, w = 240, 320
answer = {"detections": [{"label": "cube", "bbox_format": "xyxy", "bbox": [32, 24, 288, 216]}]}
loc = _vqa_answer_to_loc(answer, h, w)
parsed = parse_vqa_answer(loc)
x1, y1, x2, y2 = parsed["payload"]["detections"][0]["bbox"]
for got, want, dim in ((x1, 32, w), (y1, 24, h), (x2, 288, w), (y2, 216, h)):
assert abs(got * dim - want) <= dim / 2046 + 1e-6