also run torch tests on github CI. simplify CI

Author: ssheorey

.github/workflows/ubuntu.yml

@@ -29,7 +29,7 @@ jobs:
       # open3d / open3d_cpu wheels link EGL for offscreen rendering (GUI=ON).
       - name: Install Open3D runtime deps
         run: sudo apt-get update && sudo apt-get install --yes libegl1
-      - name: Run Open3D-ML tests (CPU wheel, no torch parity)
+      - name: Run Open3D-ML tests (CPU wheel)
         env:
           GH_TOKEN: ${{ github.token }}
         run: ./ci/run_ci.sh cpu

ci/run_ci.sh

@@ -4,21 +4,17 @@
 #
 # Usage: ./ci/run_ci.sh [cpu|cuda|xpu]
 #
-#   cpu  — open3d_cpu wheel, PyTorch CPU; integration + TF tests only (no torch
-#          CPU/accelerator parity). Used on GitHub Actions.
-#   cuda — open3d (CUDA) wheel, PyTorch+cu126; full suite including
-#          tests/test_models_torch.py parity (requires NVIDIA GPU).
-#   xpu  — open3d_xpu wheel, PyTorch+XPU; full suite including parity
-#          (requires Intel GPU; torch.xpu.is_available()).
+#   cpu  — open3d_cpu wheel + requirements-torch.txt
+#   cuda — default open3d manylinux wheel + requirements-torch-cuda.txt
+#   xpu  — open3d_xpu wheel + requirements-torch-xpu.txt
 #
-# Parity tests (tests/test_models_torch.py) are intentionally omitted for the
-# cpu variant: GitHub-hosted runners have no GPU, and parity needs a real
-# accelerator. See docs/howtos.md.
+# Pytest skips (parity, accelerator-only ops, missing ops) are handled in the
+# test modules. See docs/howtos.md.
 
 set -euo pipefail
 
 usage() {
-    sed -n '2,16p' "$0" | sed 's/^# \?//'
+    sed -n '2,12p' "$0" | sed 's/^# \?//'
     echo
     echo "Example: ./ci/run_ci.sh cpu"
     exit "${1:-0}"
@@ -43,25 +39,20 @@ case "${BACKEND}" in
     cpu)
         WHEEL_GLOB="open3d_cpu-*-${PY_TAG}-${PY_TAG}-manylinux*_x86_64.whl"
         TORCH_REQUIREMENTS="requirements-torch.txt"
-        INCLUDE_PARITY_TESTS=false
         ;;
     cuda)
-        # Default manylinux wheel (not open3d_cpu / open3d_xpu).
         WHEEL_GLOB="open3d-[0-9]*-${PY_TAG}-${PY_TAG}-manylinux*_x86_64.whl"
         TORCH_REQUIREMENTS="requirements-torch-cuda.txt"
-        INCLUDE_PARITY_TESTS=true
         ;;
     xpu)
         WHEEL_GLOB="open3d_xpu-*-${PY_TAG}-${PY_TAG}-manylinux*_x86_64.whl"
         TORCH_REQUIREMENTS="requirements-torch-xpu.txt"
-        INCLUDE_PARITY_TESTS=true
         ;;
 esac
 
 echo "Open3D-ML CI backend: ${BACKEND}"
 echo "  wheel pattern: ${WHEEL_GLOB}"
 echo "  torch requirements: ${TORCH_REQUIREMENTS}"
-echo "  torch parity tests (test_models_torch.py): ${INCLUDE_PARITY_TESTS}"
 echo
 
 echo "1. Download the latest Open3D devel wheel from ${OPEN3D_REPO}@${RELEASE_TAG}"
@@ -91,58 +82,18 @@ python -m pip install "${WHEEL_PATH}"
 
 echo "3. Sanity-check the installed package"
 echo
-python -W default -c "
-import open3d
-print('Installed:', open3d)
-print('BUILD_PYTORCH_OPS:', open3d._build_config['BUILD_PYTORCH_OPS'])
-print('BUILD_SYCL_MODULE:', open3d._build_config.get('BUILD_SYCL_MODULE'))
-print('CUDA available:', open3d.core.cuda.is_available())
-print('SYCL available:', open3d.core.sycl.is_available())
-"
+python -W default -c "import open3d; print('Installed:', open3d)"
 
 echo "4. Install Open3D-ML dependencies"
 echo
 export PATH_TO_OPEN3D_ML="$PWD"
 python -m pip install -r requirements.txt -r "${TORCH_REQUIREMENTS}" \
     -r requirements-tensorflow.txt
 
-echo "4b. PyTorch accelerator visibility"
-echo
-python -c "
-import torch
-print('torch:', torch.__version__)
-print('torch.cuda.is_available():', torch.cuda.is_available())
-if hasattr(torch, 'xpu'):
-    print('torch.xpu.is_available():', torch.xpu.is_available())
-"
-
-if [[ "${INCLUDE_PARITY_TESTS}" == true ]]; then
-    python -c "
-import open3d as o3d
-import torch
-import sys
-backend = '${BACKEND}'
-if backend == 'cuda' and not torch.cuda.is_available():
-    sys.exit('cuda CI variant requires torch.cuda.is_available()')
-if backend == 'xpu' and not (hasattr(torch, 'xpu') and torch.xpu.is_available()):
-    sys.exit('xpu CI variant requires torch.xpu.is_available()')
-print('Accelerator check passed for', backend)
-"
-fi
-
-if [[ "${INCLUDE_PARITY_TESTS}" == true ]]; then
-    TEST_TARGETS=(tests)
-else
-    TEST_TARGETS=(
-        tests/test_integration.py
-        tests/test_models_tf.py
-    )
-fi
-
 run_test_suite() {
-    echo "Running: ./tests/run_tests.sh ${TEST_TARGETS[*]}"
+    echo "Running: ./tests/run_tests.sh tests"
     echo "Add --randomly-seed=SEED via pytest env if reproducing order."
-    ./tests/run_tests.sh "${TEST_TARGETS[@]}"
+    ./tests/run_tests.sh tests
 }
 
 echo "5. Run the Open3D-ML pytest suite against the installed wheel"

docs/howtos.md

@@ -280,18 +280,8 @@ Run the full suite locally with:
 ### Note on GitHub Actions CI
 
 GitHub-hosted runners have no NVIDIA or Intel GPU. CI runs `./ci/run_ci.sh cpu`,
-which installs the `open3d_cpu` wheel and PyTorch CPU, then runs integration and
-TensorFlow model tests only. **Torch CPU/accelerator parity** (`tests/test_models_torch.py`)
-is not part of CPU CI.
+which installs the `open3d_cpu` wheel and PyTorch CPU, then runs the full pytest
+tree. Individual tests skip when an op backend or accelerator is unavailable.
 
-Run parity locally (or on GPU machines) with:
-
-```bash
-./ci/run_ci.sh cuda   # NVIDIA GPU + open3d CUDA wheel
-./ci/run_ci.sh xpu    # Intel GPU + open3d_xpu wheel
-```
-
-Both `cuda` and `xpu` variants install the matching PyTorch build and run the
-full test tree, including `test_models_torch.py`. The `cpu` variant skips those
-parity tests because they require a real accelerator and are not meaningful on
-CPU-only hosts.
+Run `./ci/run_ci.sh cuda` or `./ci/run_ci.sh xpu` locally or on GPU machines to
+exercise CUDA/XPU wheels and PyTorch builds.

tests/test_models_torch.py

@@ -33,8 +33,9 @@
 RandLANet from a config (no forward pass).
 
 Parity tests need ``BUILD_PYTORCH_OPS`` and a CUDA or XPU device for the
-accelerator half. CPU CI (``./ci/run_ci.sh cpu``) does not run this file; use
-``./ci/run_ci.sh cuda`` or ``xpu`` locally for the full matrix.
+accelerator half; without a GPU, ``assert_cpu_accelerator_parity`` runs CPU only.
+CPU CI (``./ci/run_ci.sh cpu``) runs the same torch model tests with parity
+skipped on GPU-less runners; use ``./ci/run_ci.sh cuda`` or ``xpu`` for full parity.
 """
 
 import copy