44 lines
1.2 KiB
Python
44 lines
1.2 KiB
Python
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import pytest
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import torch
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from lerobot.common.constants import (
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OPTIMIZER_PARAM_GROUPS,
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OPTIMIZER_STATE,
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)
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from lerobot.common.optim.optimizers import (
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AdamConfig,
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AdamWConfig,
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SGDConfig,
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load_optimizer_state,
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save_optimizer_state,
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)
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@pytest.mark.parametrize(
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"config_cls, expected_class",
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[
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(AdamConfig, torch.optim.Adam),
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(AdamWConfig, torch.optim.AdamW),
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(SGDConfig, torch.optim.SGD),
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],
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)
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def test_optimizer_build(config_cls, expected_class, model_params):
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config = config_cls()
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optimizer = config.build(model_params)
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assert isinstance(optimizer, expected_class)
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assert optimizer.defaults["lr"] == config.lr
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def test_save_optimizer_state(optimizer, tmp_path):
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save_optimizer_state(optimizer, tmp_path)
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assert (tmp_path / OPTIMIZER_STATE).is_file()
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assert (tmp_path / OPTIMIZER_PARAM_GROUPS).is_file()
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def test_save_and_load_optimizer_state(model_params, optimizer, tmp_path):
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save_optimizer_state(optimizer, tmp_path)
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loaded_optimizer = AdamConfig().build(model_params)
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loaded_optimizer = load_optimizer_state(loaded_optimizer, tmp_path)
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torch.testing.assert_close(optimizer.state_dict(), loaded_optimizer.state_dict())
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