mirror of
https://github.com/huggingface/lerobot.git
synced 2026-07-15 14:02:14 +00:00
pepijn223
b81909fc28
Make the LingBot-VA port runnable on both LIBERO and RoboTwin and clean up the package to LeRobot conventions. - Consolidate all vendored Wan2.2 model code (transformer, attention, VAE helpers, flow-matching scheduler, grid utils, flex-attention) into a single modeling_lingbot_va.py; remove the separate wan_*/schedulers modules. - Move the fixed action (un)normalization quantiles out of the config and into the post-processor (LIBERO 7-DoF + RoboTwin 16-d eef); remove the conversion script in favour of ready-to-use LeRobot-format checkpoints on the Hub. - Fixes found via on-sim validation: undo LIBERO's 180-degree image flip (image_hflip), encode obs as a multi-frame streaming-VAE clip, reset the streaming VAE cache between episodes, run the transformer in config.dtype, lazy-load frozen VAE/UMT5 by subfolder with the text encoder on CPU. - RoboTwin: add an end-effector-pose action mode to RoboTwinEnv (16-d per-arm xyz+quat+gripper deltas composed onto the initial eef pose, executed via CuRobo IK) and the robotwin_tshape latent layout (full-res head + half-res wrists via a second streaming VAE) with the upstream RoboTwin action quantiles + camera mapping. - Predicted-video saving works for both benchmarks; docs + tests updated. Co-authored-by: Cursor <cursoragent@cursor.com>
39 lines
1.4 KiB
Python
39 lines
1.4 KiB
Python
#!/usr/bin/env python
|
|
|
|
# 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 __future__ import annotations
|
|
|
|
import pytest
|
|
|
|
from lerobot.policies.factory import make_policy_config
|
|
from lerobot.policies.lingbot_va.configuration_lingbot_va import LingBotVAConfig
|
|
|
|
|
|
def test_make_policy_config_returns_lingbot_va() -> None:
|
|
cfg = make_policy_config("lingbot_va", device="cpu")
|
|
assert isinstance(cfg, LingBotVAConfig)
|
|
|
|
|
|
def test_get_policy_class_resolves_lazily() -> None:
|
|
# Importing the policy class pulls in diffusers (Wan2.2 stack); skip if unavailable.
|
|
pytest.importorskip("diffusers")
|
|
pytest.importorskip("transformers")
|
|
from lerobot.policies.factory import get_policy_class
|
|
|
|
cls = get_policy_class("lingbot_va")
|
|
assert cls.name == "lingbot_va"
|
|
assert cls.config_class is LingBotVAConfig
|