Initial pi0.7 minimal validation

tests/test_rtc.py

@@ -0,0 +1,50 @@
+from __future__ import annotations
+
+import pytest
+import torch
+
+from pi07mini.rtc import align_actions_for_rtc, sample_rtc_delay
+
+
+def _actions() -> torch.Tensor:
+    return torch.arange(32, dtype=torch.float32).reshape(16, 2)
+
+
+def test_zero_delay_preserves_entire_chunk() -> None:
+    actions = _actions()
+    aligned = align_actions_for_rtc(actions, 0)
+    torch.testing.assert_close(aligned.delayed_target_actions, actions)
+    assert aligned.valid_mask.all()
+    assert aligned.executed_prefix_actions.shape == (0, 2)
+
+
+def test_delay_shifts_target_and_masks_padded_tail() -> None:
+    actions = _actions()
+    aligned = align_actions_for_rtc(actions, 12)
+    torch.testing.assert_close(aligned.delayed_target_actions[:4], actions[12:])
+    assert torch.count_nonzero(aligned.delayed_target_actions[4:]) == 0
+    assert aligned.valid_mask.tolist() == [True] * 4 + [False] * 12
+    torch.testing.assert_close(aligned.executed_prefix_actions, actions[:12])
+
+
+def test_rtc_alignment_preserves_batch_dimensions() -> None:
+    actions = torch.stack((_actions(), _actions() + 100.0))
+    aligned = align_actions_for_rtc(actions, 3)
+    assert aligned.delayed_target_actions.shape == (2, 16, 2)
+    assert aligned.valid_mask.shape == (2, 16)
+    torch.testing.assert_close(aligned.delayed_target_actions[:, :13], actions[:, 3:])
+
+
+def test_delay_sampling_covers_closed_zero_to_twelve_range() -> None:
+    generator = torch.Generator().manual_seed(9)
+    values = {
+        sample_rtc_delay(generator=generator, action_horizon=16) for _ in range(300)
+    }
+    assert min(values) == 0
+    assert max(values) == 12
+
+
+@pytest.mark.parametrize("delay", [-1, 13, 16])
+def test_invalid_delay_is_rejected(delay: int) -> None:
+    with pytest.raises(ValueError):
+        align_actions_for_rtc(_actions(), delay)