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a8eb6e5 | 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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 | #!/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.
"""
Tests for subtask functionality in LeRobotDataset.
These tests verify that:
- Subtask information is correctly loaded from datasets that have subtask data
- The __getitem__ method correctly adds subtask strings to returned items
- Subtask handling gracefully handles missing data
"""
import pandas as pd
import pytest
import torch
from lerobot.datasets.lerobot_dataset import LeRobotDataset
class TestSubtaskDataset:
"""Tests for subtask handling in LeRobotDataset."""
@pytest.fixture
def subtask_dataset(self):
"""Load the test subtask dataset from the hub."""
# Use lerobot/pusht-subtask dataset with episode 1
return LeRobotDataset(
repo_id="lerobot/pusht-subtask",
episodes=[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11],
)
def test_subtask_dataset_loads(self, subtask_dataset):
"""Test that the subtask dataset loads successfully."""
assert subtask_dataset is not None
assert len(subtask_dataset) > 0
def test_subtask_metadata_loaded(self, subtask_dataset):
"""Test that subtask metadata is loaded when present in dataset."""
# The dataset should have subtasks metadata loaded
assert subtask_dataset.meta.subtasks is not None
assert isinstance(subtask_dataset.meta.subtasks, pd.DataFrame)
def test_subtask_index_in_features(self, subtask_dataset):
"""Test that subtask_index is a feature when dataset has subtasks."""
assert "subtask_index" in subtask_dataset.features
def test_getitem_returns_subtask_string(self, subtask_dataset):
"""Test that __getitem__ correctly adds subtask string to returned item."""
item = subtask_dataset[0]
# Subtask should be present in the returned item
assert "subtask" in item
assert isinstance(item["subtask"], str)
assert len(item["subtask"]) > 0 # Should not be empty
def test_getitem_has_subtask_index(self, subtask_dataset):
"""Test that __getitem__ includes subtask_index."""
item = subtask_dataset[0]
assert "subtask_index" in item
assert isinstance(item["subtask_index"], torch.Tensor)
def test_subtask_index_maps_to_valid_subtask(self, subtask_dataset):
"""Test that subtask_index correctly maps to a subtask in metadata."""
item = subtask_dataset[0]
subtask_idx = item["subtask_index"].item()
subtask_from_metadata = subtask_dataset.meta.subtasks.iloc[subtask_idx].name
assert item["subtask"] == subtask_from_metadata
def test_all_items_have_subtask(self, subtask_dataset):
"""Test that all items in the dataset have subtask information."""
for i in range(min(len(subtask_dataset), 5)): # Check first 5 items
item = subtask_dataset[i]
assert "subtask" in item
assert isinstance(item["subtask"], str)
def test_task_and_subtask_coexist(self, subtask_dataset):
"""Test that both task and subtask are present in returned items."""
item = subtask_dataset[0]
# Both task and subtask should be present
assert "task" in item
assert "subtask" in item
assert isinstance(item["task"], str)
assert isinstance(item["subtask"], str)
class TestSubtaskDatasetMissing:
"""Tests for graceful handling when subtask data is missing."""
@pytest.fixture
def dataset_without_subtasks(self, tmp_path, empty_lerobot_dataset_factory):
"""Create a dataset without subtask information."""
features = {"state": {"dtype": "float32", "shape": (2,), "names": None}}
dataset = empty_lerobot_dataset_factory(root=tmp_path / "no_subtask", features=features)
# Add some frames and save
for _ in range(5):
dataset.add_frame({"state": torch.randn(2), "task": "Test task"})
dataset.save_episode()
dataset.finalize()
# Reload the dataset
return LeRobotDataset(dataset.repo_id, root=dataset.root)
def test_no_subtask_in_features(self, dataset_without_subtasks):
"""Test that subtask_index is not in features when not provided."""
assert "subtask_index" not in dataset_without_subtasks.features
def test_getitem_without_subtask(self, dataset_without_subtasks):
"""Test that __getitem__ works when subtask is not present."""
item = dataset_without_subtasks[0]
# Item should still be retrievable
assert item is not None
assert "state" in item
assert "task" in item
# Subtask should NOT be present
assert "subtask" not in item
def test_subtasks_metadata_is_none(self, dataset_without_subtasks):
"""Test that subtasks metadata is None when not present."""
assert dataset_without_subtasks.meta.subtasks is None
class TestSubtaskEdgeCases:
"""Edge case tests for subtask handling."""
def test_subtask_with_multiple_episodes(self):
"""Test subtask handling with multiple episodes if available."""
try:
dataset = LeRobotDataset(
repo_id="lerobot/pusht-subtask",
episodes=[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11],
)
except Exception:
pytest.skip("Could not load test-subtask dataset")
# Check first and last items have valid subtasks
first_item = dataset[0]
last_item = dataset[len(dataset) - 1]
assert "subtask" in first_item
assert "subtask" in last_item
assert isinstance(first_item["subtask"], str)
assert isinstance(last_item["subtask"], str)
def test_subtask_index_consistency(self):
"""Test that same subtask_index returns same subtask string."""
try:
dataset = LeRobotDataset(
repo_id="lerobot/pusht-subtask",
episodes=[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11],
)
except Exception:
pytest.skip("Could not load test-subtask dataset")
if len(dataset) < 2:
pytest.skip("Dataset too small for this test")
# Collect subtask_index to subtask mappings
subtask_map = {}
for i in range(min(len(dataset), 10)):
item = dataset[i]
idx = item["subtask_index"].item()
subtask = item["subtask"]
if idx in subtask_map:
# Same index should always return same subtask
assert subtask_map[idx] == subtask, (
f"Inconsistent subtask for index {idx}: '{subtask_map[idx]}' vs '{subtask}'"
)
else:
subtask_map[idx] = subtask
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