fix(g05): align LIBERO environment observations

docs/source/g05.mdx

@@ -126,3 +126,33 @@ This command still requires licensed checkpoint access and suitable CUDA hardwar
 A 50-episode LIBERO/RoboTwin success-rate comparison additionally requires the
 matching simulator, task assets, reset seeds, and author evaluator; no task-level
 benchmark number is claimed until that separate gate runs.
+
+Once the pinned LIBERO simulator and assets are installed, run the matching
+LeRobot rollout with the author camera names and relative control:
+
+```bash
+lerobot-eval \
+  --policy.path=outputs/g05-libero-lerobot \
+  --policy.device=cuda \
+  --env.type=libero \
+  --env.task=libero_goal \
+  --env.control_mode=relative \
+  --env.observation_height=512 \
+  --env.observation_width=512 \
+  '--env.camera_name_mapping={"agentview_image": "image", "robot0_eye_in_hand_image": "wrist_image"}' \
+  --eval.batch_size=1 \
+  --eval.n_episodes=50 \
+  --seed=0 \
+  --output_dir=outputs/g05-libero-lerobot-eval
+```
+
+The author-oracle command for the same 50-trial gate is:
+
+```bash
+LIBERO_CONFIG_PATH=$(pwd)/experiments/libero \
+bash scripts/run/eval_libero.sh checkpoints/g05-libero/model.pt \
+  --suites "libero_goal" \
+  --num_trials 50 \
+  --num_parallel 1 \
+  --output_dir outputs/g05-libero-author-eval
+```

src/lerobot/policies/g05/processor_g05.py

@@ -153,6 +153,10 @@ class G05EmbodimentProjectionStep(ProcessorStep):
             )
         if OBS_STATE in observation:
             raw_state = observation[OBS_STATE]
+            if self.embodiment == "libero" and raw_state.shape[-1] == 8:
+                # LeRobot's generic LIBERO env exposes both parallel-jaw qpos
+                # values. The author evaluator consumes only qpos[0].
+                raw_state = torch.cat((raw_state[..., :6], raw_state[..., 6:7]), dim=-1)
             observation[OBS_STATE] = self._project(raw_state, self.mapping["state"], self.policy_state_dim)
             state_mask = torch.ones(
                 *raw_state.shape[:-1],

tests/policies/g05/test_g05.py

@@ -181,6 +181,24 @@ def test_inference_without_ground_truth_action_still_emits_action_dimension_mask
     assert processed["action_dim_is_pad"].sum() == 13
 
 
+def test_lerobot_libero_two_finger_state_matches_author_first_qpos_contract():
+    config = _config()
+    preprocessor, _ = make_pre_post_processors(config)
+    env_state = torch.arange(8, dtype=torch.float32)
+
+    processed = preprocessor(
+        {
+            OBS_STATE: env_state,
+            "observation.images.image": torch.zeros(3, 8, 8),
+            "observation.images.wrist_image": torch.zeros(3, 8, 8),
+            "task": "libero env",
+        }
+    )
+
+    checkpoint_slots = G05_EMBODIMENT_MAPPINGS["libero"]["state"]
+    assert torch.equal(processed[OBS_STATE][0, list(checkpoint_slots)], env_state[:7])
+
+
 def test_atomic4_projection_has_mobile_base_control_mode_and_exact_inverse():
     config = G05Config(
         checkpoint_profile="custom",