mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-17 09:39:47 +00:00
Eugene Mironov
66 lines
2.2 KiB
Python
66 lines
2.2 KiB
Python
#!/usr/bin/env python
|
|
|
|
# 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.
|
|
|
|
"""Tests for RTC configuration module."""
|
|
|
|
from lerobot.configs.types import RTCAttentionSchedule
|
|
from lerobot.policies.rtc.configuration_rtc import RTCConfig
|
|
|
|
# ====================== Initialization Tests ======================
|
|
|
|
|
|
def test_rtc_config_default_initialization():
|
|
"""Test RTCConfig initializes with default values."""
|
|
config = RTCConfig()
|
|
|
|
assert config.enabled is False
|
|
assert config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR
|
|
assert config.max_guidance_weight == 10.0
|
|
assert config.execution_horizon == 10
|
|
assert config.debug is False
|
|
assert config.debug_maxlen == 100
|
|
|
|
|
|
def test_rtc_config_custom_initialization():
|
|
"""Test RTCConfig initializes with custom values."""
|
|
config = RTCConfig(
|
|
enabled=True,
|
|
prefix_attention_schedule=RTCAttentionSchedule.EXP,
|
|
max_guidance_weight=5.0,
|
|
execution_horizon=20,
|
|
debug=True,
|
|
debug_maxlen=200,
|
|
)
|
|
|
|
assert config.enabled is True
|
|
assert config.prefix_attention_schedule == RTCAttentionSchedule.EXP
|
|
assert config.max_guidance_weight == 5.0
|
|
assert config.execution_horizon == 20
|
|
assert config.debug is True
|
|
assert config.debug_maxlen == 200
|
|
|
|
|
|
def test_rtc_config_partial_initialization():
|
|
"""Test RTCConfig with partial custom values."""
|
|
config = RTCConfig(enabled=True, max_guidance_weight=15.0)
|
|
|
|
assert config.enabled is True
|
|
assert config.max_guidance_weight == 15.0
|
|
# Other values should be defaults
|
|
assert config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR
|
|
assert config.execution_horizon == 10
|
|
assert config.debug is False
|