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feat(g05): add OpenGalaxea G0.5 policy integration

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This commit is contained in:
Pepijn
2026-07-28 11:36:21 +02:00
parent f620ac7f35
commit 2e3be32361
15 changed files with 1902 additions and 7 deletions
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tests/runtime/test_g05_adapter.py
+3 -3
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@@ -82,7 +82,7 @@ def test_system2_surfaces_same_pass_cot_and_action():
state.language_context["cot_text"]
== "BBox: cup [1,2,3,4]|\nSubtask: grasp the cup|Updated Memory: cup located"
)
assert state.language_context["subtask"] == "grasp the cup"
assert state.extra["g05_subtask"] == "grasp the cup"
assert state.language_context["memory"] == "cup located"
@@ -100,7 +100,7 @@ def test_system2_accepts_batch_safe_tuple_metadata():
chunk = G05PolicyAdapter(ReasoningPolicy()).select_action({}, state)
assert chunk == "chunk"
assert state.language_context["subtask"] == "move left"
assert state.extra["g05_subtask"] == "move left"
assert state.language_context["plan"] == "first move left"
@@ -126,7 +126,7 @@ def test_system2_reasoning_does_not_invalidate_same_pass_action_chunk():
assert executed == ["a0"]
assert list(runtime.state.action_queue) == ["a1"]
assert runtime.state.language_context["subtask"] == "pick cup"
assert runtime.state.extra["g05_subtask"] == "pick cup"
def test_system2_rejects_checkpoint_without_predict_cot():