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#!/usr/bin/env python
# Copyright 2025 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 RTC configuration module."""
from lerobot.configs.types import RTCAttentionSchedule
from lerobot.policies.rtc.configuration_rtc import RTCConfig
# ====================== Initialization Tests ======================
def test_rtc_config_default_initialization():
"""Test RTCConfig initializes with default values."""
config = RTCConfig()
assert config.enabled is False
assert config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR
assert config.max_guidance_weight == 10.0
assert config.execution_horizon == 10
assert config.debug is False
assert config.debug_maxlen == 100
def test_rtc_config_custom_initialization():
"""Test RTCConfig initializes with custom values."""
config = RTCConfig(
enabled=True,
prefix_attention_schedule=RTCAttentionSchedule.EXP,
max_guidance_weight=5.0,
execution_horizon=20,
debug=True,
debug_maxlen=200,
)
assert config.enabled is True
assert config.prefix_attention_schedule == RTCAttentionSchedule.EXP
assert config.max_guidance_weight == 5.0
assert config.execution_horizon == 20
assert config.debug is True
assert config.debug_maxlen == 200
def test_rtc_config_partial_initialization():
"""Test RTCConfig with partial custom values."""
config = RTCConfig(enabled=True, max_guidance_weight=15.0)
assert config.enabled is True
assert config.max_guidance_weight == 15.0
# Other values should be defaults
assert config.prefix_attention_schedule == RTCAttentionSchedule.LINEAR
assert config.execution_horizon == 10
assert config.debug is False
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