Format GR00T OSS parity changes

src/lerobot/policies/groot/processor_groot.py

@@ -665,7 +665,9 @@ def _relative_action_chunks_by_horizon(
     return chunks
 
 
-def _compute_horizon_relative_action_stats(chunks_by_horizon: list[list[np.ndarray]]) -> dict[str, np.ndarray]:
+def _compute_horizon_relative_action_stats(
+    chunks_by_horizon: list[list[np.ndarray]],
+) -> dict[str, np.ndarray]:
     if not chunks_by_horizon or not any(chunks_by_horizon):
         raise ValueError("Cannot compute relative action statistics without unpadded action vectors.")
 
@@ -779,7 +781,9 @@ def _make_relative_action_training_stats(
             num_vectors += len(vectors)
 
     if num_vectors < 2:
-        raise ValueError("Cannot compute relative action statistics from fewer than 2 unpadded action vectors.")
+        raise ValueError(
+            "Cannot compute relative action statistics from fewer than 2 unpadded action vectors."
+        )
 
     stats[ACTION] = _compute_horizon_relative_action_stats(chunks_by_horizon or [])
     return stats
@@ -1091,7 +1095,9 @@ def make_groot_pre_post_processors(
     if config.use_relative_actions and not checkpoint_has_stats:
         relative_dataset_stats = dataset_stats
         if not _stats_preserve_action_horizon(relative_dataset_stats):
-            relative_dataset_stats = _make_relative_action_training_stats_from_dataset_meta(config, dataset_meta)
+            relative_dataset_stats = _make_relative_action_training_stats_from_dataset_meta(
+                config, dataset_meta
+            )
         relative_assets = _build_n1_7_relative_action_processor_assets(
             config,
             relative_dataset_stats,
@@ -1652,7 +1658,6 @@ class GrootN17PackInputsStep(ProcessorStep):
             return None
         return torch.cat(normalized_groups, dim=-1)
 
-
     def __call__(self, transition: EnvTransition) -> EnvTransition:
         obs = transition.get(TransitionKey.OBSERVATION, {}) or {}
         comp = transition.get(TransitionKey.COMPLEMENTARY_DATA, {}) or {}

tests/policies/groot/test_groot_n1_7.py

@@ -1870,7 +1870,6 @@ def test_groot_n1_7_vlm_encode_config_round_trips_model_name():
 def test_groot_n1_7_processor_uses_qwen_component_assets(monkeypatch):
     pytest.importorskip("transformers")
 
-
     from lerobot.policies.groot import processor_groot
 
     calls = []
@@ -2116,9 +2115,7 @@ def test_groot_n1_7_relative_action_training_processors_save_native_grouped_stat
     assert decode_config["raw_stats"]["action"]["gripper"]["max"] == [100.0]
 
 
-def test_groot_n1_7_relative_action_processors_compute_stats_from_runtime_dataset_meta(
-    monkeypatch, tmp_path
-):
+def test_groot_n1_7_relative_action_processors_compute_stats_from_runtime_dataset_meta(monkeypatch, tmp_path):
     input_features, output_features = _groot_features(state_dim=6, action_dim=6)
     action_names = [
         "shoulder_pan.pos",