fix(pi0, pi05): stabilize torch.compile and expand test coverage (#3610)

* chore(gr00t): sync with #3606 for fixing gr00t config crash

* fix(pi0&pi05): fix graph break caused by deepcopy of past_key_values in sample_actions

* fix(pi0&pi05): fix frequent recompile caused by compute_layer_complete

* feat(test): add compile test and benchamrk for pi0 and pi05

* feat(test): add comprehensive testing for pi0 and pi05. Including processor, forward, sample action, etc.

tests/policies/pi0_pi05/openpi_pytorch/gemma.py

@@ -0,0 +1,22 @@
+from dataclasses import dataclass
+
+
+@dataclass
+class Config:
+    width: int
+    depth: int
+    mlp_dim: int
+    num_heads: int
+    num_kv_heads: int
+    head_dim: int
+
+
+def get_config(variant: str) -> Config:
+    """Return the Gemma shape config needed by the OpenPI PyTorch model."""
+    if variant == "dummy":
+        return Config(width=64, depth=4, mlp_dim=128, num_heads=8, num_kv_heads=1, head_dim=16)
+    if variant == "gemma_300m":
+        return Config(width=1024, depth=18, mlp_dim=4096, num_heads=8, num_kv_heads=1, head_dim=256)
+    if variant == "gemma_2b":
+        return Config(width=2048, depth=18, mlp_dim=16_384, num_heads=8, num_kv_heads=1, head_dim=256)
+    raise ValueError(f"Unknown variant: {variant}")