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Add LeRobotDatasetMetadata

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This commit is contained in:
Simon Alibert
2024-11-03 18:07:37 +01:00
parent ac79e8cb36
commit e4ba084e25
25 changed files with 419 additions and 327 deletions
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7
tests/test_policies.py
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@@ -50,7 +50,7 @@ def test_get_policy_and_config_classes(policy_name: str):
assert issubclass(config_cls, inspect.signature(policy_cls.__init__).parameters["config"].annotation)
# TODO(aliberts): refactor using lerobot/__init__.py variables
@pytest.mark.skip("TODO after v2 migration / removing hydra")
@pytest.mark.parametrize(
"env_name,policy_name,extra_overrides",
[
@@ -136,7 +136,7 @@ def test_policy(env_name, policy_name, extra_overrides):
# Check that we can make the policy object.
dataset = make_dataset(cfg)
policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.meta.stats)
# Check that the policy follows the required protocol.
assert isinstance(
policy, Policy
@@ -195,6 +195,7 @@ def test_policy(env_name, policy_name, extra_overrides):
env.step(action)
@pytest.mark.skip("TODO after v2 migration / removing hydra")
def test_act_backbone_lr():
"""
Test that the ACT policy can be instantiated with a different learning rate for the backbone.
@@ -213,7 +214,7 @@ def test_act_backbone_lr():
assert cfg.training.lr_backbone == 0.001
dataset = make_dataset(cfg)
policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.meta.stats)
optimizer, _ = make_optimizer_and_scheduler(cfg, policy)
assert len(optimizer.param_groups) == 2
assert optimizer.param_groups[0]["lr"] == cfg.training.lr