mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-29 04:36:04 +00:00
Khalil Meftah
123 lines
3.9 KiB
Python
123 lines
3.9 KiB
Python
# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import torch
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from lerobot.policies import factory
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from lerobot.policies.act.configuration_act import ACTConfig
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from lerobot.policies.pretrained import PreTrainedPolicy
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from lerobot.processor import PolicyProcessorPipeline
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class _MinimalPolicy(PreTrainedPolicy):
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config_class = ACTConfig
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name = "minimal_revision_test"
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def get_optim_params(self) -> dict:
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return {}
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def reset(self) -> None:
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pass
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def forward(self, batch: dict[str, torch.Tensor]) -> tuple[torch.Tensor, dict | None]:
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return torch.tensor(0), None
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def predict_action_chunk(self, batch: dict[str, torch.Tensor], **kwargs) -> torch.Tensor:
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return torch.tensor(0)
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def select_action(self, batch: dict[str, torch.Tensor], **kwargs) -> torch.Tensor:
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return torch.tensor(0)
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def _skip_safetensor_loading(monkeypatch):
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monkeypatch.setattr(
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_MinimalPolicy,
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"_load_as_safetensor",
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classmethod(lambda cls, model, model_file, map_location, strict: model),
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)
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def test_policy_weights_use_config_commit_hash(monkeypatch):
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config = ACTConfig(device="cpu")
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config._set_hub_commit_hash("a" * 40, "user/policy")
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calls = []
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def fake_hub_download(**kwargs):
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calls.append(kwargs)
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return "/unused/model.safetensors"
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monkeypatch.setattr("lerobot.policies.pretrained.hf_hub_download", fake_hub_download)
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_skip_safetensor_loading(monkeypatch)
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_MinimalPolicy.from_pretrained("user/policy", config=config, revision="main")
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assert calls[0]["revision"] == "a" * 40
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def test_policy_does_not_reuse_commit_hash_for_another_repo(monkeypatch):
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config = ACTConfig(device="cpu")
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config._set_hub_commit_hash("a" * 40, "user/adapter")
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calls = []
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def fake_hub_download(**kwargs):
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calls.append(kwargs)
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return "/unused/model.safetensors"
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monkeypatch.setattr("lerobot.policies.pretrained.hf_hub_download", fake_hub_download)
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_skip_safetensor_loading(monkeypatch)
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_MinimalPolicy.from_pretrained("user/base-policy", config=config, revision="base-tag")
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assert calls[0]["revision"] == "base-tag"
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def test_policy_records_weight_commit_for_explicit_config(monkeypatch):
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commit_hash = "a" * 40
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config = ACTConfig(device="cpu")
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def fake_hub_download(**kwargs):
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return f"/cache/models--user--policy/snapshots/{commit_hash}/model.safetensors"
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monkeypatch.setattr("lerobot.policies.pretrained.hf_hub_download", fake_hub_download)
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_skip_safetensor_loading(monkeypatch)
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_MinimalPolicy.from_pretrained("user/policy", config=config, revision="main")
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assert config._commit_hash == commit_hash
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assert config._commit_hash_source == "user/policy"
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def test_processor_factory_uses_config_commit_hash(monkeypatch):
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config = ACTConfig(device="cpu")
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config._set_hub_commit_hash("a" * 40, "user/policy")
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calls = []
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def fake_from_pretrained(cls, **kwargs):
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calls.append(kwargs)
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return PolicyProcessorPipeline(steps=[])
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monkeypatch.setattr(
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factory.PolicyProcessorPipeline,
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"from_pretrained",
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classmethod(fake_from_pretrained),
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)
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factory.make_pre_post_processors(
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config,
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pretrained_path="user/policy",
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pretrained_revision="main",
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)
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assert [call["revision"] for call in calls] == ["a" * 40, "a" * 40]
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