Feat: Improve hub integration (#1382)

* feat(policies): Initial setup to push policies to hub with tags and model card

* feat: add dataset that is used to train

* Add model template summary

* fix: Update link model_card template

* fix: remove print

* fix: change import name

* fix: add model summary in template

* fix: minor text

* fix: comments Lucain

* fix: feedback steven

* fix: restructure push to hub

* fix: remove unneeded changes

* fix: import

* fix: import 2

* Add MANIFEST.in

* fix: feedback pr

* Fix tests

* tests: Add smolvla end-to-end test

* Fix: smolvla test

* fix test name

* fix policy tests

* Add push to hub false policy tests

* Do push to hub cleaner

* fix(ci): add push_to_hub false in tests

---------

Co-authored-by: Steven Palma <steven.palma@huggingface.co>

tests/artifacts/policies/save_policy_to_safetensors.py

@@ -32,7 +32,7 @@ def get_policy_stats(ds_repo_id: str, policy_name: str, policy_kwargs: dict):
     train_cfg = TrainPipelineConfig(
         # TODO(rcadene, aliberts): remove dataset download
         dataset=DatasetConfig(repo_id=ds_repo_id, episodes=[0]),
-        policy=make_policy_config(policy_name, **policy_kwargs),
+        policy=make_policy_config(policy_name, push_to_hub=False, **policy_kwargs),
     )
     train_cfg.validate()  # Needed for auto-setting some parameters
 

tests/datasets/test_datasets.py

@@ -338,8 +338,9 @@ def test_factory(env_name, repo_id, policy_name):
         # TODO(rcadene, aliberts): remove dataset download
         dataset=DatasetConfig(repo_id=repo_id, episodes=[0]),
         env=make_env_config(env_name),
-        policy=make_policy_config(policy_name),
+        policy=make_policy_config(policy_name, push_to_hub=False),
     )
+    cfg.validate()
 
     dataset = make_dataset(cfg)
     delta_timestamps = dataset.delta_timestamps

tests/policies/test_policies.py

@@ -142,9 +142,10 @@ def test_policy(ds_repo_id, env_name, env_kwargs, policy_name, policy_kwargs):
     train_cfg = TrainPipelineConfig(
         # TODO(rcadene, aliberts): remove dataset download
         dataset=DatasetConfig(repo_id=ds_repo_id, episodes=[0]),
-        policy=make_policy_config(policy_name, **policy_kwargs),
+        policy=make_policy_config(policy_name, push_to_hub=False, **policy_kwargs),
         env=make_env_config(env_name, **env_kwargs),
     )
+    train_cfg.validate()
 
     # Check that we can make the policy object.
     dataset = make_dataset(train_cfg)
@@ -213,7 +214,7 @@ def test_act_backbone_lr():
     cfg = TrainPipelineConfig(
         # TODO(rcadene, aliberts): remove dataset download
         dataset=DatasetConfig(repo_id="lerobot/aloha_sim_insertion_scripted", episodes=[0]),
-        policy=make_policy_config("act", optimizer_lr=0.01, optimizer_lr_backbone=0.001),
+        policy=make_policy_config("act", optimizer_lr=0.01, optimizer_lr_backbone=0.001, push_to_hub=False),
     )
     cfg.validate()  # Needed for auto-setting some parameters
 
@@ -415,6 +416,7 @@ def test_backward_compatibility(ds_repo_id: str, policy_name: str, policy_kwargs
     https://github.com/huggingface/lerobot/pull/1127.
 
     """
+
     # NOTE: ACT policy has different randomness, after PyTorch 2.7.0
     if policy_name == "act" and version.parse(torch.__version__) < version.parse("2.7.0"):
         pytest.skip(f"Skipping act policy test with PyTorch {torch.__version__}. Requires PyTorch >= 2.7.0")