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Bug fix: missing attention mask in VAE encoder in ACT policy (#279)

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Co-authored-by: Alexander Soare <alexander.soare159@gmail.com>
This commit is contained in:
Thomas Wolf
2024-06-19 13:07:21 +02:00
committed by GitHub
parent 56199fb76f
commit 48951662f2
7 changed files with 60 additions and 25 deletions
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18
tests/test_policies.py
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@@ -315,24 +315,26 @@ def test_normalize(insert_temporal_dim):
@pytest.mark.parametrize(
"env_name, policy_name, extra_overrides",
"env_name, policy_name, extra_overrides, file_name_extra",
[
("xarm", "tdmpc", []),
("xarm", "tdmpc", [], ""),
(
"pusht",
"diffusion",
["policy.n_action_steps=8", "policy.num_inference_steps=10", "policy.down_dims=[128, 256, 512]"],
"",
),
("aloha", "act", ["policy.n_action_steps=10"]),
("dora_aloha_real", "act_real", ["policy.n_action_steps=10"]),
("dora_aloha_real", "act_real_no_state", ["policy.n_action_steps=10"]),
("aloha", "act", ["policy.n_action_steps=10"], ""),
("aloha", "act", ["policy.n_action_steps=1000", "policy.chunk_size=1000"], "_1000_steps"),
("dora_aloha_real", "act_real", ["policy.n_action_steps=10"], ""),
("dora_aloha_real", "act_real_no_state", ["policy.n_action_steps=10"], ""),
],
)
# As artifacts have been generated on an x86_64 kernel, this test won't
# pass if it's run on another platform due to floating point errors
@require_x86_64_kernel
@require_cpu
def test_backward_compatibility(env_name, policy_name, extra_overrides):
def test_backward_compatibility(env_name, policy_name, extra_overrides, file_name_extra):
"""
NOTE: If this test does not pass, and you have intentionally changed something in the policy:
1. Inspect the differences in policy outputs and make sure you can account for them. Your PR should
@@ -344,7 +346,9 @@ def test_backward_compatibility(env_name, policy_name, extra_overrides):
5. Remember to restore `tests/scripts/save_policy_to_safetensors.py` to its original state.
6. Remember to stage and commit the resulting changes to `tests/data`.
"""
env_policy_dir = Path("tests/data/save_policy_to_safetensors") / f"{env_name}_{policy_name}"
env_policy_dir = (
Path("tests/data/save_policy_to_safetensors") / f"{env_name}_{policy_name}{file_name_extra}"
)
saved_output_dict = load_file(env_policy_dir / "output_dict.safetensors")
saved_grad_stats = load_file(env_policy_dir / "grad_stats.safetensors")
saved_param_stats = load_file(env_policy_dir / "param_stats.safetensors")