feat(ci): log into HF to unblock some CI tests (#3007)

* feat(ci): log into HF to unblock some CI tests

* chore(ci): change hf call + secret name

* fix(ci): temp fix for pi0 rtc test

* test(policies): require_cuda for unblocked tests

* test(policies): require_cuda wall_x

* fic(tests): require_cuda outter most for pi0

* fix(test): return instead of yield

---------

Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>

tests/policies/pi0_fast/test_pi0_fast_original_vs_lerobot.py

@@ -17,7 +17,6 @@
 """Test script to verify PI0Fast policy integration with LeRobot vs the original implementation"""
 # ruff: noqa: E402
 
-import os
 import random
 from copy import deepcopy
 from typing import Any
@@ -28,10 +27,6 @@ import torch
 
 pytest.importorskip("transformers")
 pytest.importorskip("scipy")
-pytestmark = pytest.mark.skipif(
-    os.environ.get("CI") == "true" or os.environ.get("GITHUB_ACTIONS") == "true",
-    reason="This test requires accepting the model license",
-)
 
 from lerobot.policies.pi0_fast.configuration_pi0_fast import PI0FastConfig
 from lerobot.policies.pi0_fast.modeling_pi0_fast import PI0FastPolicy
@@ -53,7 +48,7 @@ DUMMY_STATE_DIM = 20
 IMAGE_HEIGHT = 224
 IMAGE_WIDTH = 224
 NUM_VIEWS = 2  # Number of camera views
-DEVICE = "cuda" if torch.cuda.is_available() else "cpu"
+DEVICE = "cuda"
 MODEL_PATH_LEROBOT = "jadechoghari/pi0fast-base"
 
 # Expected action token shape: (batch_size, max_decoding_steps)
@@ -69,6 +64,7 @@ EXPECTED_ACTIONS_STD = 0.2607129216194153
 EXPECTED_ACTIONS_FIRST_5 = torch.tensor([0.0000, 0.3536, 0.0707, 0.0000, 0.0000])
 
 
+@require_cuda
 def set_seed_all(seed: int):
     """Set random seed for all RNG sources to ensure reproducibility."""
     random.seed(seed)
@@ -85,6 +81,7 @@ def set_seed_all(seed: int):
     torch.use_deterministic_algorithms(True, warn_only=True)
 
 
+@require_cuda
 def instantiate_lerobot_pi0_fast(
     from_pretrained: bool = False,
     model_path: str = MODEL_PATH_LEROBOT,
@@ -127,6 +124,7 @@ def instantiate_lerobot_pi0_fast(
     return policy, preprocessor, postprocessor
 
 
+@require_cuda
 def create_dummy_data(device=DEVICE):
     """Create dummy data for testing both implementations."""
     batch_size = 1
@@ -158,22 +156,25 @@ def create_dummy_data(device=DEVICE):
 
 # Pytest fixtures
 @pytest.fixture(scope="module")
+@require_cuda
 def pi0_fast_components():
     """Fixture to instantiate and provide all PI0Fast components for tests."""
     print(f"\nTesting with DEVICE='{DEVICE}'")
     print("\n[Setup] Instantiating LeRobot PI0Fast policy...")
     policy_obj, preprocessor_obj, postprocessor_obj = instantiate_lerobot_pi0_fast(from_pretrained=True)
     print("Model loaded successfully")
-    yield policy_obj, preprocessor_obj, postprocessor_obj
+    return policy_obj, preprocessor_obj, postprocessor_obj
 
 
 @pytest.fixture(scope="module")
+@require_cuda
 def policy(pi0_fast_components):
     """Fixture to provide the PI0Fast policy for tests."""
     return pi0_fast_components[0]
 
 
 @pytest.fixture(scope="module")
+@require_cuda
 def preprocessor(pi0_fast_components):
     """Fixture to provide the PI0Fast preprocessor for tests."""
     return pi0_fast_components[1]