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0d80452 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 | #!/usr/bin/env python
# Copyright 2026 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.
"""Validator behavior tests."""
from __future__ import annotations
import json
from pathlib import Path
import pytest
# ``lerobot.annotations`` imports pull in ``lerobot.datasets`` (-> the HF
# ``datasets`` library), which only ships under the ``dataset`` extra. Skip
# this module in tiers without it instead of erroring at import.
pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
pytest.importorskip("pandas", reason="pandas is required (install lerobot[dataset])")
from lerobot.annotations.steerable_pipeline.reader import iter_episodes # noqa: E402
from lerobot.annotations.steerable_pipeline.staging import EpisodeStaging # noqa: E402
from lerobot.annotations.steerable_pipeline.validator import StagingValidator # noqa: E402
from lerobot.annotations.steerable_pipeline.writer import speech_atom # noqa: E402
def _validate(root: Path, staging_dir: Path):
records = list(iter_episodes(root))
return StagingValidator().validate(records, staging_dir)
def test_validator_catches_misaligned_timestamps(fixture_dataset_root: Path, tmp_path: Path) -> None:
staging_dir = tmp_path / "stage"
EpisodeStaging(staging_dir, 0).write(
"vqa",
[
{
"role": "assistant",
"content": json.dumps({"label": "cup", "count": 2}, sort_keys=True),
"style": "vqa",
"timestamp": 9.999, # not on any 10 fps frame
"tool_calls": None,
}
],
)
report = _validate(fixture_dataset_root, staging_dir)
assert not report.ok
assert any("does not match any source frame timestamp" in e for e in report.errors)
def test_validator_catches_orphan_speech(fixture_dataset_root: Path, tmp_path: Path) -> None:
staging_dir = tmp_path / "stage"
EpisodeStaging(staging_dir, 0).write(
"interjections",
[
speech_atom(0.0, "Got it."),
# interjection at 0.3s with NO paired speech
{
"role": "user",
"content": "skip it",
"style": "interjection",
"timestamp": 0.3,
"tool_calls": None,
},
],
)
report = _validate(fixture_dataset_root, staging_dir)
assert not report.ok
assert any("paired speech" in e for e in report.errors)
def test_validator_catches_inconsistent_plan_memory(fixture_dataset_root: Path, tmp_path: Path) -> None:
staging_dir = tmp_path / "stage"
EpisodeStaging(staging_dir, 0).write(
"plan",
[
{
"role": "assistant",
"content": "1. do x",
"style": "plan",
"timestamp": 0.0,
"tool_calls": None,
},
{
"role": "assistant",
"content": "do x",
"style": "subtask",
"timestamp": 0.0,
"tool_calls": None,
},
],
)
EpisodeStaging(staging_dir, 0).write(
"interjections",
[
speech_atom(0.0, "Got it."),
speech_atom(0.4, "Replanning."),
{
"role": "user",
"content": "replan",
"style": "interjection",
"timestamp": 0.4,
"tool_calls": None,
},
],
)
report = _validate(fixture_dataset_root, staging_dir)
# missing co-timestamped plan refresh at 0.4s → error
assert not report.ok
assert any("co-timestamped plan update" in e for e in report.errors)
def test_validator_catches_wrong_column(fixture_dataset_root: Path, tmp_path: Path) -> None:
staging_dir = tmp_path / "stage"
EpisodeStaging(staging_dir, 0).write(
"plan",
[
{"role": "user", "content": "where?", "style": "vqa", "timestamp": 0.0, "tool_calls": None},
],
)
report = _validate(fixture_dataset_root, staging_dir)
assert not report.ok
assert any("plan emitted style 'vqa'" in e or "must be persistent" in e for e in report.errors)
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