File size: 2,125 Bytes
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 | #!/usr/bin/env python
import pytest
pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
import torch # noqa: E402
from lerobot.configs.recipe import MessageTurn, TrainingRecipe # noqa: E402
from lerobot.processor.converters import create_transition # noqa: E402
from lerobot.processor.render_messages_processor import RenderMessagesStep # noqa: E402
from lerobot.types import TransitionKey # noqa: E402
def test_render_messages_step_noops_without_language_columns():
recipe = TrainingRecipe(
messages=[
MessageTurn(role="user", content="${task}", stream="high_level"),
MessageTurn(role="assistant", content="${subtask}", stream="low_level", target=True),
]
)
transition = create_transition(complementary_data={"task": "do it"})
assert RenderMessagesStep(recipe)(transition) == transition
def test_render_messages_step_renders_and_drops_raw_language():
recipe = TrainingRecipe(
messages=[
MessageTurn(role="user", content="${task}", stream="high_level"),
MessageTurn(role="assistant", content="${subtask}", stream="low_level", target=True),
]
)
transition = create_transition(
complementary_data={
"task": "do it",
"timestamp": torch.tensor(0.0),
"index": torch.tensor(7),
"language_persistent": [
{
"role": "assistant",
"content": "reach carefully",
"style": "subtask",
"timestamp": 0.0,
"camera": None,
"tool_calls": None,
}
],
"language_events": [],
}
)
out = RenderMessagesStep(recipe)(transition)
data = out[TransitionKey.COMPLEMENTARY_DATA]
assert "language_persistent" not in data
assert "language_events" not in data
assert data["messages"][-1]["content"] == "reach carefully"
assert data["message_streams"] == ["high_level", "low_level"]
assert data["target_message_indices"] == [1]
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