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fix(g05): honor native base System2 contract

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Pepijn
2026-07-28 12:59:55 +02:00
parent a9582ef479
commit 44f1e51cb9
6 changed files with 637 additions and 52 deletions
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docs/source/g05.mdx
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@@ -15,11 +15,11 @@ conditioned on the same post-reasoning KV state.
## Supported checkpoint contracts
| Profile | Released action path | Raw → policy layout | Cameras | Chunk | Normalization |
| ---------------- | ------------------------------------------ | -------------------------------------------- | ------------------------------ | -----------------: | ------------------------ |
| `g05-base` | Explicitly selected AR ActionCodec or flow | selected named embodiment | selected named camera contract | checkpoint-defined | resolved checkpoint mode |
| `g05-libero` | Continuous flow | right EEF 6 + gripper 1 → 20D grouped layout | exterior, right wrist | 32 | stepwise q01/q99 |
| `g05-robotwin20` | Continuous flow | two arms 6+gripper → 20D grouped layout | high, left wrist, right wrist | 32 | stepwise q01/q99 |
| Profile | Released action path | Raw → policy layout | Cameras | Chunk | Normalization |
| ---------------- | ------------------------------------------ | -------------------------------------------- | ---------------------------------- | -----------------------: | ------------------------------- |
| `g05-base` | Explicitly selected AR ActionCodec or flow | R1 Lite/Pro joints → 27D whole-body layout | head + both wrists, 6-step history | 32 model / 27 executable | z-score-tail + q01/q99 grippers |
| `g05-libero` | Continuous flow | right EEF 6 + gripper 1 → 20D grouped layout | exterior, right wrist | 32 | stepwise q01/q99 |
| `g05-robotwin20` | Continuous flow | two arms 6+gripper → 20D grouped layout | high, left wrist, right wrist | 32 | stepwise q01/q99 |
The converter stores the resolved Hydra model, processor, ActionCodec metadata,
statistics, exact prompt template, source revision, and license with the converted
@@ -64,10 +64,25 @@ uv run python -m lerobot.policies.g05.convert_g05_checkpoint \
--license-file /path/to/GalaxeaVLA/LICENSE-G0.5
```
Use `--profile g05-base` for the base checkpoint or `--profile
g05-robotwin20` for RoboTwin. `conversion_report.json` records every mapped,
missing, unexpected, duplicate, and shape-mismatched tensor; conversion fails
when strict required-state validation fails.
For the base checkpoint, select both its concrete embodiment and one of its
enabled output heads:
```bash
uv run python -m lerobot.policies.g05.convert_g05_checkpoint \
--source-dir /path/to/checkpoints/g05-base \
--output-dir outputs/g05-base-r1lite-flow-lerobot \
--profile g05-base \
--embodiment galaxea_r1lite \
--action-head flow \
--license-file /path/to/GalaxeaVLA/LICENSE-G0.5
```
Use `--action-head actioncodec` for the autoregressive action path,
`--embodiment galaxea_r1pro` for R1 Pro, or `--profile g05-robotwin20` for
RoboTwin. The base model's 32-step head contains five history-alignment steps;
postprocessing returns the 27 executable actions. `conversion_report.json`
records every mapped, missing, unexpected, duplicate, and shape-mismatched
tensor; conversion fails when strict required-state validation fails.
## Interactive System 1 and System 2 runtime