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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.
from pathlib import Path
from unittest.mock import Mock, patch
from lerobot.utils.constants import (
CHECKPOINTS_DIR,
LAST_CHECKPOINT_LINK,
OPTIMIZER_PARAM_GROUPS,
OPTIMIZER_STATE,
RNG_STATE,
SCHEDULER_STATE,
TRAINING_STATE_DIR,
TRAINING_STEP,
)
from lerobot.utils.train_utils import (
get_step_checkpoint_dir,
get_step_identifier,
load_training_state,
load_training_step,
save_checkpoint,
save_training_state,
save_training_step,
update_last_checkpoint,
)
def test_get_step_identifier():
assert get_step_identifier(5, 1000) == "000005"
assert get_step_identifier(123, 100_000) == "000123"
assert get_step_identifier(456789, 1_000_000) == "0456789"
def test_get_step_checkpoint_dir():
output_dir = Path("/checkpoints")
step_dir = get_step_checkpoint_dir(output_dir, 1000, 5)
assert step_dir == output_dir / CHECKPOINTS_DIR / "000005"
def test_save_load_training_step(tmp_path):
save_training_step(5000, tmp_path)
assert (tmp_path / TRAINING_STEP).is_file()
def test_load_training_step(tmp_path):
step = 5000
save_training_step(step, tmp_path)
loaded_step = load_training_step(tmp_path)
assert loaded_step == step
def test_update_last_checkpoint(tmp_path):
checkpoint = tmp_path / "0005"
checkpoint.mkdir()
update_last_checkpoint(checkpoint)
last_checkpoint = tmp_path / LAST_CHECKPOINT_LINK
assert last_checkpoint.is_symlink()
assert last_checkpoint.resolve() == checkpoint
@patch("lerobot.utils.train_utils.save_training_state")
def test_save_checkpoint(mock_save_training_state, tmp_path, optimizer):
policy = Mock()
cfg = Mock()
save_checkpoint(tmp_path, 10, cfg, policy, optimizer)
policy.save_pretrained.assert_called_once()
cfg.save_pretrained.assert_called_once()
mock_save_training_state.assert_called_once()
def test_save_training_state(tmp_path, optimizer, scheduler):
save_training_state(tmp_path, 10, optimizer, scheduler)
assert (tmp_path / TRAINING_STATE_DIR).is_dir()
assert (tmp_path / TRAINING_STATE_DIR / TRAINING_STEP).is_file()
assert (tmp_path / TRAINING_STATE_DIR / RNG_STATE).is_file()
assert (tmp_path / TRAINING_STATE_DIR / OPTIMIZER_STATE).is_file()
assert (tmp_path / TRAINING_STATE_DIR / OPTIMIZER_PARAM_GROUPS).is_file()
assert (tmp_path / TRAINING_STATE_DIR / SCHEDULER_STATE).is_file()
def test_save_load_training_state(tmp_path, optimizer, scheduler):
save_training_state(tmp_path, 10, optimizer, scheduler)
loaded_step, loaded_optimizer, loaded_scheduler = load_training_state(tmp_path, optimizer, scheduler)
assert loaded_step == 10
assert loaded_optimizer is optimizer
assert loaded_scheduler is scheduler
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