test(groot): regression coverage and CI guards for the N1.7 review fixes

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Adds/updates unit tests for the N1.5 removal surfaces (config, checkpoint
markers, removed processor steps, v2 action-unpack registration), the
legacy-default remap warnings, action_decode_transform auto/none resolution,
2-D action decoding, the per-instance raw-state cache and pack/decode
reconnection, raw-checkpoint stats fallback and override handling, camera-match
warnings, bf16 handling, and backbone loading kwargs. Adds pytest.importorskip
guards so the fast_tests tiers pass without transformers, and asserts the
training forward pass returns a finite loss.

Note: these tests exercise symbols introduced by the GR00T N1.7 source PRs
(source-core, backbone); merge those for green CI on this branch.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

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This commit is contained in:

Steven Palma

2026-06-12 23:38:08 +02:00

parent c8225d749a

commit bf9877fa0b

2 changed files with 928 additions and 43 deletions

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tests/policies/groot/test_groot_n1_7.py

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