feat(scripts): lerobot-rollout

tests/policies/rtc/test_action_interpolator.py

@@ -17,9 +17,9 @@
 import pytest
 import torch
 
-from lerobot.policies.rtc.action_interpolator import ActionInterpolator
 from lerobot.policies.rtc.action_queue import ActionQueue
 from lerobot.policies.rtc.configuration_rtc import RTCConfig
+from lerobot.utils.action_interpolator import ActionInterpolator
 
 # ====================== Fixtures ======================
 

tests/test_cli_peft.py

@@ -24,10 +24,6 @@ def lerobot_train(args):
     return run_command(cmd="lerobot-train", module="lerobot_train", args=args)
 
 
-def lerobot_record(args):
-    return run_command(cmd="lerobot-record", module="lerobot_record", args=args)
-
-
 def resolve_model_id_for_peft_training(policy_type):
     """PEFT training needs pretrained models, this finds the pretrained model of a policy type for PEFT training."""
     if policy_type == "smolvla":
@@ -155,81 +151,3 @@ def test_peft_training_params_are_fewer(policy_type, tmp_path):
                 f"--output_dir={output_dir}",
             ]
         )
-
-
-class DummyRobot:
-    name = "dummy"
-    cameras = []
-    action_features = {"foo": 1.0, "bar": 2.0}
-    observation_features = {"obs1": 1.0, "obs2": 2.0}
-    is_connected = True
-
-    def connect(self, *args):
-        pass
-
-    def disconnect(self):
-        pass
-
-
-def dummy_make_robot_from_config(*args, **kwargs):
-    return DummyRobot()
-
-
-@pytest.mark.parametrize("policy_type", ["smolvla"])
-@skip_if_package_missing("peft")
-def test_peft_record_loads_policy(policy_type, tmp_path):
-    """Train a policy with PEFT and attempt to load it with `lerobot-record`."""
-    from peft import PeftModel
-
-    output_dir = tmp_path / f"output_{policy_type}"
-    model_id = resolve_model_id_for_peft_training(policy_type)
-
-    lerobot_train(
-        [
-            f"--policy.path={model_id}",
-            "--policy.push_to_hub=false",
-            "--policy.input_features=null",
-            "--policy.output_features=null",
-            "--peft.method=LORA",
-            "--dataset.repo_id=lerobot/pusht",
-            "--dataset.episodes=[0, 1]",
-            "--steps=1",
-            f"--output_dir={output_dir}",
-        ]
-    )
-
-    policy_dir = output_dir / "checkpoints" / "last" / "pretrained_model"
-    dataset_dir = tmp_path / "eval_pusht"
-    single_task = "move the table"
-    loaded_policy = None
-
-    def dummy_record_loop(*args, **kwargs):
-        nonlocal loaded_policy
-
-        if "dataset" not in kwargs:
-            return
-
-        dataset = kwargs["dataset"]
-        dataset.add_frame({"task": single_task})
-        loaded_policy = kwargs["policy"]
-
-    with (
-        patch("lerobot.scripts.lerobot_record.make_robot_from_config", dummy_make_robot_from_config),
-        # disable record loop since we're only interested in successful loading of the policy.
-        patch("lerobot.scripts.lerobot_record.record_loop", dummy_record_loop),
-        # disable speech output
-        patch("lerobot.utils.utils.say"),
-    ):
-        lerobot_record(
-            [
-                f"--policy.path={policy_dir}",
-                "--robot.type=so101_follower",
-                "--robot.port=/dev/null",
-                "--dataset.repo_id=lerobot/eval_pusht",
-                f'--dataset.single_task="{single_task}"',
-                f"--dataset.root={dataset_dir}",
-                "--dataset.push_to_hub=false",
-            ]
-        )
-
-        assert isinstance(loaded_policy, PeftModel)

tests/test_control_robot.py

@@ -21,8 +21,9 @@ import pytest
 pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
 pytest.importorskip("deepdiff", reason="deepdiff is required (install lerobot[hardware])")
 
+from lerobot.configs.dataset import DatasetRecordConfig
 from lerobot.scripts.lerobot_calibrate import CalibrateConfig, calibrate
-from lerobot.scripts.lerobot_record import DatasetRecordConfig, RecordConfig, record
+from lerobot.scripts.lerobot_record import RecordConfig, record
 from lerobot.scripts.lerobot_replay import DatasetReplayConfig, ReplayConfig, replay
 from lerobot.scripts.lerobot_teleoperate import TeleoperateConfig, teleoperate
 from tests.fixtures.constants import DUMMY_REPO_ID

tests/test_rollout.py

@@ -0,0 +1,338 @@
+# 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.
+
+"""Minimal tests for the rollout module's public API."""
+
+from __future__ import annotations
+
+import dataclasses
+from unittest.mock import MagicMock
+
+import pytest
+import torch
+
+pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
+
+# ---------------------------------------------------------------------------
+# Import smoke tests
+# ---------------------------------------------------------------------------
+
+
+def test_rollout_top_level_imports():
+    import lerobot.rollout
+
+    for name in lerobot.rollout.__all__:
+        assert hasattr(lerobot.rollout, name), f"Missing export: {name}"
+
+
+def test_inference_submodule_imports():
+    import lerobot.rollout.inference
+
+    for name in lerobot.rollout.inference.__all__:
+        assert hasattr(lerobot.rollout.inference, name), f"Missing export: {name}"
+
+
+def test_strategies_submodule_imports():
+    import lerobot.rollout.strategies
+
+    for name in lerobot.rollout.strategies.__all__:
+        assert hasattr(lerobot.rollout.strategies, name), f"Missing export: {name}"
+
+
+# ---------------------------------------------------------------------------
+# Config tests
+# ---------------------------------------------------------------------------
+
+
+def test_strategy_config_types():
+    from lerobot.rollout import (
+        BaseStrategyConfig,
+        DAggerStrategyConfig,
+        HighlightStrategyConfig,
+        SentryStrategyConfig,
+    )
+
+    assert BaseStrategyConfig().type == "base"
+    assert SentryStrategyConfig().type == "sentry"
+    assert HighlightStrategyConfig().type == "highlight"
+    assert DAggerStrategyConfig().type == "dagger"
+
+
+def test_dagger_config_invalid_input_device():
+    from lerobot.rollout import DAggerStrategyConfig
+
+    with pytest.raises(ValueError, match="input_device must be 'keyboard' or 'pedal'"):
+        DAggerStrategyConfig(input_device="joystick")
+
+
+def test_dagger_config_defaults():
+    from lerobot.rollout import DAggerStrategyConfig
+
+    cfg = DAggerStrategyConfig()
+    assert cfg.num_episodes == 10
+    assert cfg.record_autonomous is False
+    assert cfg.input_device == "keyboard"
+
+
+def test_inference_config_types():
+    from lerobot.rollout.inference import RTCInferenceConfig, SyncInferenceConfig
+
+    assert SyncInferenceConfig().type == "sync"
+
+    rtc = RTCInferenceConfig()
+    assert rtc.type == "rtc"
+    assert rtc.queue_threshold == 30
+    assert rtc.rtc is not None
+
+
+def test_sentry_config_defaults():
+    from lerobot.rollout import SentryStrategyConfig
+
+    cfg = SentryStrategyConfig()
+    assert cfg.upload_every_n_episodes == 5
+    assert cfg.target_video_file_size_mb is None
+
+
+# ---------------------------------------------------------------------------
+# RolloutRingBuffer
+# ---------------------------------------------------------------------------
+
+
+def test_ring_buffer_append_and_eviction():
+    from lerobot.rollout import RolloutRingBuffer
+
+    buf = RolloutRingBuffer(max_seconds=0.5, max_memory_mb=100.0, fps=10.0)
+    # max_frames = 5
+    for i in range(8):
+        buf.append({"val": i})
+    assert len(buf) == 5
+
+
+def test_ring_buffer_drain():
+    from lerobot.rollout import RolloutRingBuffer
+
+    buf = RolloutRingBuffer(max_seconds=1.0, max_memory_mb=100.0, fps=10.0)
+    for i in range(3):
+        buf.append({"val": i})
+    frames = buf.drain()
+    assert len(frames) == 3
+    assert len(buf) == 0
+    assert buf.estimated_bytes == 0
+
+
+def test_ring_buffer_clear():
+    from lerobot.rollout import RolloutRingBuffer
+
+    buf = RolloutRingBuffer(max_seconds=1.0, max_memory_mb=100.0, fps=10.0)
+    buf.append({"val": 1})
+    buf.clear()
+    assert len(buf) == 0
+    assert buf.estimated_bytes == 0
+
+
+def test_ring_buffer_tensor_bytes():
+    from lerobot.rollout import RolloutRingBuffer
+
+    buf = RolloutRingBuffer(max_seconds=1.0, max_memory_mb=100.0, fps=10.0)
+    t = torch.zeros(100, dtype=torch.float32)  # 400 bytes
+    buf.append({"tensor": t})
+    assert buf.estimated_bytes >= 400
+
+
+# ---------------------------------------------------------------------------
+# ThreadSafeRobot
+# ---------------------------------------------------------------------------
+
+
+def test_thread_safe_robot_delegates():
+    from lerobot.rollout import ThreadSafeRobot
+    from tests.mocks.mock_robot import MockRobot, MockRobotConfig
+
+    robot = MockRobot(MockRobotConfig(n_motors=3))
+    robot.connect()
+    wrapper = ThreadSafeRobot(robot)
+
+    obs = wrapper.get_observation()
+    assert "motor_1.pos" in obs
+    assert "motor_2.pos" in obs
+    assert "motor_3.pos" in obs
+
+    action = {"motor_1.pos": 0.0, "motor_2.pos": 1.0, "motor_3.pos": 2.0}
+    result = wrapper.send_action(action)
+    assert result == action
+
+    robot.disconnect()
+
+
+def test_thread_safe_robot_properties():
+    from lerobot.rollout import ThreadSafeRobot
+    from tests.mocks.mock_robot import MockRobot, MockRobotConfig
+
+    robot = MockRobot(MockRobotConfig(n_motors=3))
+    robot.connect()
+    wrapper = ThreadSafeRobot(robot)
+
+    assert wrapper.name == "mock_robot"
+    assert "motor_1.pos" in wrapper.observation_features
+    assert "motor_1.pos" in wrapper.action_features
+    assert wrapper.is_connected is True
+    assert wrapper.inner is robot
+
+    robot.disconnect()
+
+
+# ---------------------------------------------------------------------------
+# Strategy factory
+# ---------------------------------------------------------------------------
+
+
+def test_create_strategy_dispatches():
+    from lerobot.rollout import BaseStrategyConfig, DAggerStrategyConfig, SentryStrategyConfig
+    from lerobot.rollout.strategies import BaseStrategy, DAggerStrategy, SentryStrategy, create_strategy
+
+    assert isinstance(create_strategy(BaseStrategyConfig()), BaseStrategy)
+    assert isinstance(create_strategy(SentryStrategyConfig()), SentryStrategy)
+    assert isinstance(create_strategy(DAggerStrategyConfig()), DAggerStrategy)
+
+
+def test_create_strategy_unknown_raises():
+    from lerobot.rollout.strategies import create_strategy
+
+    cfg = MagicMock()
+    cfg.type = "bogus"
+    with pytest.raises(ValueError, match="Unknown strategy type"):
+        create_strategy(cfg)
+
+
+# ---------------------------------------------------------------------------
+# Inference factory
+# ---------------------------------------------------------------------------
+
+
+def test_create_inference_engine_sync():
+    from lerobot.rollout.inference import SyncInferenceConfig, SyncInferenceEngine, create_inference_engine
+
+    engine = create_inference_engine(
+        SyncInferenceConfig(),
+        policy=MagicMock(),
+        preprocessor=MagicMock(),
+        postprocessor=MagicMock(),
+        robot_wrapper=MagicMock(robot_type="mock"),
+        hw_features={},
+        dataset_features={},
+        ordered_action_keys=["k"],
+        task="test",
+        fps=30.0,
+        device="cpu",
+    )
+    assert isinstance(engine, SyncInferenceEngine)
+
+
+# ---------------------------------------------------------------------------
+# Pure functions
+# ---------------------------------------------------------------------------
+
+
+def test_estimate_max_episode_seconds_no_video():
+    from lerobot.rollout.strategies import estimate_max_episode_seconds
+
+    assert estimate_max_episode_seconds({}, fps=30.0) == 600.0
+
+
+def test_estimate_max_episode_seconds_with_video():
+    from lerobot.rollout.strategies import estimate_max_episode_seconds
+
+    features = {"cam": {"dtype": "video", "shape": (3, 480, 640)}}
+    result = estimate_max_episode_seconds(features, fps=30.0)
+    assert result > 0
+    # With a real camera, duration should differ from the fallback
+    assert result != 600.0
+
+
+def test_safe_push_to_hub():
+    from lerobot.rollout.strategies import safe_push_to_hub
+
+    ds = MagicMock()
+    ds.num_episodes = 0
+    assert safe_push_to_hub(ds) is False
+    ds.push_to_hub.assert_not_called()
+
+    ds.num_episodes = 5
+    assert safe_push_to_hub(ds, tags=["test"]) is True
+    ds.push_to_hub.assert_called_once_with(tags=["test"], private=False)
+
+
+# ---------------------------------------------------------------------------
+# DAgger state machine
+# ---------------------------------------------------------------------------
+
+
+def test_dagger_full_transition_cycle():
+    from lerobot.rollout.strategies import DAggerEvents, DAggerPhase
+
+    events = DAggerEvents()
+    assert events.phase == DAggerPhase.AUTONOMOUS
+
+    # AUTONOMOUS -> PAUSED
+    events.request_transition("pause_resume")
+    old, new = events.consume_transition()
+    assert (old, new) == (DAggerPhase.AUTONOMOUS, DAggerPhase.PAUSED)
+
+    # PAUSED -> CORRECTING
+    events.request_transition("correction")
+    old, new = events.consume_transition()
+    assert (old, new) == (DAggerPhase.PAUSED, DAggerPhase.CORRECTING)
+
+    # CORRECTING -> PAUSED
+    events.request_transition("correction")
+    old, new = events.consume_transition()
+    assert (old, new) == (DAggerPhase.CORRECTING, DAggerPhase.PAUSED)
+
+    # PAUSED -> AUTONOMOUS
+    events.request_transition("pause_resume")
+    old, new = events.consume_transition()
+    assert (old, new) == (DAggerPhase.PAUSED, DAggerPhase.AUTONOMOUS)
+
+
+def test_dagger_invalid_transition_ignored():
+    from lerobot.rollout.strategies import DAggerEvents, DAggerPhase
+
+    events = DAggerEvents()
+    events.request_transition("correction")  # Not valid from AUTONOMOUS
+    assert events.consume_transition() is None
+    assert events.phase == DAggerPhase.AUTONOMOUS
+
+
+def test_dagger_events_reset():
+    from lerobot.rollout.strategies import DAggerEvents, DAggerPhase
+
+    events = DAggerEvents()
+    events.request_transition("pause_resume")
+    events.consume_transition()  # -> PAUSED
+    events.upload_requested.set()
+    events.reset()
+    assert events.phase == DAggerPhase.AUTONOMOUS
+    assert not events.upload_requested.is_set()
+
+
+# ---------------------------------------------------------------------------
+# Context dataclass
+# ---------------------------------------------------------------------------
+
+
+def test_rollout_context_fields():
+    from lerobot.rollout import RolloutContext
+
+    field_names = {f.name for f in dataclasses.fields(RolloutContext)}
+    assert field_names == {"runtime", "hardware", "policy", "processors", "data"}

tests/utils/test_process.py

@@ -24,7 +24,7 @@ import pytest
 
 pytest.importorskip("grpc")
 
-from lerobot.rl.process import ProcessSignalHandler  # noqa: E402
+from lerobot.utils.process import ProcessSignalHandler  # noqa: E402
 
 
 # Fixture to reset shutdown_event_counter and original signal handlers before and after each test