From 9db6a8ae0fd45e1a941e53256fe66cd313965e0d Mon Sep 17 00:00:00 2001 From: nv-sachdevkartik Date: Fri, 12 Jun 2026 08:06:33 +0000 Subject: [PATCH] docs(groot): drop WHY TWO ENVIRONMENTS block from parity test docstring --- tests/policies/groot/test_groot_vs_original.py | 9 --------- 1 file changed, 9 deletions(-) diff --git a/tests/policies/groot/test_groot_vs_original.py b/tests/policies/groot/test_groot_vs_original.py index f0bef142b..5861aae13 100644 --- a/tests/policies/groot/test_groot_vs_original.py +++ b/tests/policies/groot/test_groot_vs_original.py @@ -23,15 +23,6 @@ normalized flow-matching prediction before any action decoding) as NVIDIA's orig flow-matching seed. The comparison is parametrized over every embodiment tag present in the checkpoint. -WHY TWO ENVIRONMENTS --------------------- -The original ``gr00t`` package pins ``transformers==4.57.3`` (Python 3.10) and its -model-config dataclasses subclass ``PretrainedConfig``. Under the transformers 5.x -that the LeRobot GR00T N1.7 integration requires, ``PretrainedConfig`` is itself a -defaulted dataclass, so the original config classes fail to import ("non-default -argument follows default argument"). The two implementations therefore CANNOT be -imported in the same Python process. - To keep the comparison fair, the original outputs + the exact collated inputs are produced once per embodiment in the original ``gr00t`` env via the companion script ``dump_original_n1_7.py`` (next to this file) and saved to per-tag ``.npz`` files.