Fix:1.fix advantage zero bug #489
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| # Copyright 2026 Tensor Auto Inc. 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. | |
| name: CPU Tests | |
| on: | |
| workflow_dispatch: | |
| pull_request: | |
| push: | |
| permissions: | |
| contents: read | |
| env: | |
| GIT_LFS_SKIP_SMUDGE: "1" | |
| GIT_CLEAN_FLAGS: "-ffdx -e .venv/" | |
| PYTORCH_CUDA_ALLOC_CONF: "expandable_segments:True" | |
| UV_LINK_MODE: "copy" | |
| MUJOCO_GL: "egl" | |
| PYOPENGL_PLATFORM: "egl" | |
| PRE_COMMIT_HOME: "/pre-commit-cache" | |
| jobs: | |
| cpu-tests: | |
| name: CPU Tests | |
| runs-on: ubuntu-latest | |
| steps: | |
| - name: Checkout Repository | |
| uses: actions/checkout@v4 | |
| with: | |
| persist-credentials: false | |
| lfs: false | |
| - name: Free Disk Space (Ubuntu) | |
| uses: jlumbroso/free-disk-space@main | |
| - name: Set up Python | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: "3.10" | |
| - name: Install system dependencies | |
| run: | | |
| sudo apt-get update | |
| sudo apt-get install -y ffmpeg libegl1 libegl-mesa0 libgl1 libglx-mesa0 libgles2 mesa-utils | |
| - name: Install uv | |
| uses: astral-sh/setup-uv@v5 | |
| with: | |
| version: "latest" | |
| - name: Verify uv installation | |
| run: | | |
| which uv | |
| uv --version | |
| - name: Install dependencies | |
| run: | | |
| uv sync --extra dev --extra libero | |
| - name: Activate virtual environment and verify Python | |
| run: | | |
| source .venv/bin/activate | |
| which python3 | |
| python3 --version | |
| - name: Verify ffmpeg | |
| run: ffmpeg -version | |
| - name: Set up HuggingFace authentication | |
| env: | |
| HF_TOKEN: ${{ secrets.HF_TOKEN }} | |
| run: | | |
| source .venv/bin/activate | |
| hf auth login --token $HF_TOKEN | |
| - name: Configure wandb | |
| run: | | |
| source .venv/bin/activate | |
| wandb offline | |
| - name: Check disk space | |
| run: df -h /dev/shm | |
| - name: Run CPU tests with coverage | |
| run: | | |
| source .venv/bin/activate | |
| mkdir -p /tmp/libero-assets/libero/libero | |
| export LIBERO_CONFIG_PATH="$(pwd)/.github/assets/libero" | |
| echo LIBERO_CONFIG_PATH is $LIBERO_CONFIG_PATH | |
| python3 -c "import sys; print(sys.path)" | |
| python3 -c "import libero.libero" && echo "LIBERO config set successfully." | |
| echo "Running cpu based pytest and generating coverage report..." | |
| pytest -m "not gpu" -n auto -v --cov=lerobot/ --cov-report=xml:cpu_test/cpu_test.xml --ignore=tests/planner/test_planner.py --ignore tests/utils/test_libero_utils.py --deselect=tests/envs/test_factory.py::TestMakeEnv::test_make_env_async_vector_env --deselect=tests/envs/test_factory.py::TestMakeEnv::test_make_env_sync_vector_env tests/ | |
| echo "Pytest execution and coverage report generation completed." | |
| - name: Upload coverage reports | |
| uses: codecov/codecov-action@v4 | |
| if: always() | |
| with: | |
| file: ./cpu_test/cpu_test.xml | |
| flags: cpu | |
| name: cpu-coverage | |
| fail_ci_if_error: false |