Rename dora_aloha_real, WIP test_policies

tests/scripts/save_policy_to_safetensors.py

@@ -75,15 +75,16 @@ def get_policy_stats(env_name, policy_name, extra_overrides):
     # HACK: We reload a batch with no delta_timestamps as `select_action` won't expect a timestamps dimension
     dataset.delta_timestamps = None
     batch = next(iter(dataloader))
-    obs = {
-        k: batch[k]
-        for k in batch
-        if k in ["observation.image", "observation.images.top", "observation.state"]
-    }
+    obs = {}
+    for k in batch:
+        if "observation" in k:
+            obs[k] = batch[k]
+
+    if "n_action_steps" in cfg.policy:
+        actions_queue = cfg.policy.n_action_steps
+    else:
+        actions_queue = cfg.policy.n_action_repeats
 
-    actions_queue = (
-        cfg.policy.n_action_steps if "n_action_steps" in cfg.policy else cfg.policy.n_action_repeats
-    )
     actions = {str(i): policy.select_action(obs).contiguous() for i in range(actions_queue)}
     return output_dict, grad_stats, param_stats, actions
 
@@ -114,6 +115,8 @@ if __name__ == "__main__":
             ["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", []),
+        ("dora_aloha_real", "act_real_no_state", []),
     ]
     for env, policy, extra_overrides in env_policies:
         save_policy_to_safetensors("tests/data/save_policy_to_safetensors", env, policy, extra_overrides)

tests/test_policies.py

@@ -30,7 +30,7 @@ from lerobot.common.policies.factory import get_policy_and_config_classes, make_
 from lerobot.common.policies.normalize import Normalize, Unnormalize
 from lerobot.common.policies.policy_protocol import Policy
 from lerobot.common.utils.utils import init_hydra_config
-from tests.scripts.save_policy_to_safetensor import get_policy_stats
+from tests.scripts.save_policy_to_safetensors import get_policy_stats
 from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_cpu, require_env, require_x86_64_kernel
 
 
@@ -72,6 +72,8 @@ def test_get_policy_and_config_classes(policy_name: str):
         ),
         # Note: these parameters also need custom logic in the test function for overriding the Hydra config.
         ("pusht", "act", ["env.task=PushT-v0", "dataset_repo_id=lerobot/pusht"]),
+        ("dora_aloha_real", "act_real", []),
+        ("dora_aloha_real", "act_real_no_state", []),
     ],
 )
 @require_env
@@ -291,6 +293,8 @@ def test_normalize(insert_temporal_dim):
             ["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"]),
     ],
 )
 # As artifacts have been generated on an x86_64 kernel, this test won't