manual-sync 2026-07-02T20:50:21Z local-atlas-guided-flow tests

workspace/tests/test_tangent_local_atlas.py

@@ -0,0 +1,28 @@
+from __future__ import annotations
+
+from dovla_cil.generation.tangent_local_atlas import LocalAtlasConfig
+
+
+def test_local_atlas_config_validates_retrieval_parameters() -> None:
+    LocalAtlasConfig(neighbor_pool=16, utility_weight=0.0, diversity_weight=0.1)
+
+    try:
+        LocalAtlasConfig(neighbor_pool=0)
+    except ValueError as exc:
+        assert "neighbor_pool" in str(exc)
+    else:  # pragma: no cover
+        raise AssertionError("neighbor_pool must be positive")
+
+    try:
+        LocalAtlasConfig(utility_weight=-0.1)
+    except ValueError as exc:
+        assert "utility_weight" in str(exc)
+    else:  # pragma: no cover
+        raise AssertionError("utility_weight must be non-negative")
+
+    try:
+        LocalAtlasConfig(diversity_weight=-0.1)
+    except ValueError as exc:
+        assert "diversity_weight" in str(exc)
+    else:  # pragma: no cover
+        raise AssertionError("diversity_weight must be non-negative")

workspace/tests/test_tangent_spline_cvae.py

@@ -0,0 +1,50 @@
+from __future__ import annotations
+
+from dovla_cil.generation.tangent_spline_cvae import (
+    build_spline_tangent_rows,
+    decode_keyframe_spline,
+)
+
+
+def _target(value: float) -> dict:
+    matrix = [
+        [0.0, 0.0],
+        [value, 0.0],
+        [2.0 * value, 0.0],
+    ]
+    return {
+        "group_id": f"g-{value}",
+        "task_id": "PickCube-v1",
+        "instruction": "Pick up the cube.",
+        "observation_inline": {"features": [0.1, 0.2]},
+        "candidate_type": "near_miss",
+        "tangent_label": "positive",
+        "delta_utility": 1.0,
+        "delta_action": matrix,
+        "tangent_summary": {
+            "start_delta": matrix[0],
+            "midpoint_delta": matrix[1],
+            "endpoint_delta": matrix[2],
+        },
+    }
+
+
+def test_decode_keyframe_spline_preserves_keyframes() -> None:
+    code = [0.0, 0.0, 1.0, 0.0, 2.0, 0.0]
+    decoded = decode_keyframe_spline(code, horizon=3, action_dim=2)
+
+    assert decoded == [0.0, 0.0, 1.0, 0.0, 2.0, 0.0]
+
+
+def test_build_spline_tangent_rows_uses_start_mid_end_code() -> None:
+    rows, tasks, code_dim, horizon, action_dim = build_spline_tangent_rows(
+        [_target(0.5)],
+        obs_dim=4,
+        text_dim=8,
+    )
+
+    assert tasks == ["PickCube-v1"]
+    assert code_dim == 6
+    assert horizon == 3
+    assert action_dim == 2
+    assert rows[0].code == [0.0, 0.0, 0.5, 0.0, 1.0, 0.0]

workspace/tests/test_tangent_spline_flow.py

@@ -0,0 +1,21 @@
+from __future__ import annotations
+
+from dovla_cil.generation.tangent_spline_flow import SplineFlowConfig
+
+
+def test_spline_flow_config_validates_sampling_parameters() -> None:
+    SplineFlowConfig(sample_steps=4, noise_scale=0.5)
+
+    try:
+        SplineFlowConfig(sample_steps=0)
+    except ValueError as exc:
+        assert "sample_steps" in str(exc)
+    else:  # pragma: no cover
+        raise AssertionError("sample_steps must be positive")
+
+    try:
+        SplineFlowConfig(noise_scale=0.0)
+    except ValueError as exc:
+        assert "noise_scale" in str(exc)
+    else:  # pragma: no cover
+        raise AssertionError("noise_scale must be positive")

workspace/tests/test_tangent_spline_guided_flow.py

@@ -0,0 +1,34 @@
+from __future__ import annotations
+
+from dovla_cil.generation.tangent_spline_guided_flow import GuidedSplineFlowConfig
+
+
+def test_guided_spline_flow_config_validates_guidance_parameters() -> None:
+    GuidedSplineFlowConfig(
+        sample_steps=4,
+        noise_scale=0.5,
+        guidance_scale=0.5,
+        guidance_grad_clip=0.25,
+        proposal_pool_multiplier=2,
+    )
+
+    try:
+        GuidedSplineFlowConfig(guidance_scale=-0.1)
+    except ValueError as exc:
+        assert "guidance_scale" in str(exc)
+    else:  # pragma: no cover
+        raise AssertionError("guidance_scale must be non-negative")
+
+    try:
+        GuidedSplineFlowConfig(guidance_grad_clip=0.0)
+    except ValueError as exc:
+        assert "guidance_grad_clip" in str(exc)
+    else:  # pragma: no cover
+        raise AssertionError("guidance_grad_clip must be positive")
+
+    try:
+        GuidedSplineFlowConfig(proposal_pool_multiplier=0)
+    except ValueError as exc:
+        assert "proposal_pool_multiplier" in str(exc)
+    else:  # pragma: no cover
+        raise AssertionError("proposal_pool_multiplier must be positive")