feat(vla): add ACT policy for socket peg

2026-07-31 10:11:04 +08:00
parent acbd7c605a
commit ff7f4a1b03
8 changed files with 926 additions and 5 deletions
@@ -445,6 +445,35 @@ class EvalVLAExecutionTest(unittest.TestCase):
        self.assertEqual(summary["episode_rewards"], [1.0, 2.0, 3.0, 4.0, 5.0])
        self.assertEqual(summary["num_episodes"], 5)

+    def test_build_parallel_worker_payloads_keeps_socket_peg_sampling_lazy(self):
+        cfg = _make_parallel_cfg(
+            num_episodes=3,
+            num_workers=2,
+            task_name="sim_air_insert_socket_peg",
+        )
+        artifact_paths = {"output_dir": None}
+
+        with mock.patch.object(
+            eval_vla,
+            "sample_transfer_pose",
+            side_effect=AssertionError("socket-peg parallel eval should not pre-sample transfer poses"),
+        ):
+            worker_payloads, _ = eval_vla._build_parallel_worker_payloads(cfg, artifact_paths)
+
+        episode_plans = [
+            plan
+            for payload in worker_payloads
+            for plan in payload["episode_plans"]
+        ]
+        self.assertEqual(
+            episode_plans,
+            [
+                {"episode_index": 0},
+                {"episode_index": 1},
+                {"episode_index": 2},
+            ],
+        )
+
    def test_run_eval_parallel_allows_trajectory_images_and_keeps_worker_artifact_paths(self):
        cfg = _make_parallel_cfg(
            num_episodes=2,