test: document pi05 GPU smoke check

README.md

@@ -64,3 +64,18 @@ PYTHONPATH=openpi_runtime python app.py
 ```
 
 The full OpenPI/JAX stack requires Python 3.11 and a compatible CUDA 12 GPU.
+
+## Optional real-checkpoint smoke test
+
+After installing the dependencies on a CUDA machine, opt in to the large model
+download and end-to-end inference test with:
+
+```bash
+PI05_GPU_SMOKE=1 \
+PI05_MODEL_ID=owner/model \
+PI05_CHECKPOINT_PATH=checkpoints/30000 \
+pytest tests/test_gpu_smoke.py -v
+```
+
+Do not put a Hugging Face access token in this command; use `HF_TOKEN` as a
+local environment secret or a Hugging Face Space secret.

requirements.txt

@@ -28,3 +28,4 @@ transformers==4.53.2
 rich>=14.0.0
 polars>=1.30.0
 pytest==8.3.5
+lerobot @ git+https://github.com/huggingface/lerobot.git@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5

tests/test_gpu_smoke.py

@@ -0,0 +1,36 @@
+import os
+import unittest
+
+
+class GPUCheckpointSmokeTest(unittest.TestCase):
+    @unittest.skipUnless(
+        os.getenv("PI05_GPU_SMOKE") == "1",
+        "set PI05_GPU_SMOKE=1 to run the real checkpoint test",
+    )
+    def test_real_checkpoint_prediction(self):
+        import numpy as np
+        from PIL import Image
+
+        from artifacts import resolve_checkpoint_path, resolve_model_id
+        from inference import run_prediction
+        from model_loader import MODEL_MANAGER
+
+        model_id = resolve_model_id()
+        checkpoint = resolve_checkpoint_path()
+        policy = MODEL_MANAGER.get(model_id, checkpoint)
+        image = Image.fromarray(np.zeros((224, 224, 3), dtype=np.uint8))
+        result = run_prediction(
+            policy,
+            image,
+            image,
+            "move safely",
+            [0.0] * 7,
+            0,
+            model_id,
+            checkpoint,
+        )
+        self.assertEqual(result.actions.shape, (10, 7))
+
+
+if __name__ == "__main__":
+    unittest.main()

tests/test_space_config.py

@@ -11,6 +11,7 @@ def test_space_metadata_and_runtime_files():
     assert "python_version: '3.11'" in readme
     assert "app_file: app.py" in readme
     assert "gradio==6.20.0" in requirements
+    assert "lerobot.git@0cf864870cf29f4738d3ade893e6fd13fbd7cdb5" in requirements
     assert (ROOT / "openpi_runtime/openpi/policies/ur_policy.py").is_file()
     assert (ROOT / "openpi_runtime/openpi_client/base_policy.py").is_file()