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fix(g05): rebuild camera_sizes when stale keys survive embodiment switch

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Switching embodiment on a packaged checkpoint keeps the previous
embodiment's camera_sizes entries because dict config values merge
instead of replacing, which tripped the exact-key validation. Rebuild
sizes from the named profile whenever the keys diverge from
camera_order, and add regression tests for both fixes.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
pepijn
2026-07-30 08:04:37 +00:00
parent 143855cfe4
commit d74671e285
2 changed files with 32 additions and 2 deletions
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tests/policies/g05/test_g05.py
+28 -1
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@@ -13,7 +13,7 @@ from torch import nn
from lerobot.configs.policies import PreTrainedConfig
from lerobot.configs.types import FeatureType, PolicyFeature
from lerobot.policies.factory import get_policy_class, make_policy_config, make_pre_post_processors
from lerobot.policies.g05.configuration_g05 import G05_EMBODIMENT_MAPPINGS, G05Config
from lerobot.policies.g05.configuration_g05 import G05_CAMERA_PROFILES, G05_EMBODIMENT_MAPPINGS, G05Config
from lerobot.policies.g05.modeling_g05 import G05Policy
from lerobot.policies.g05.native_g05 import G05_RUNTIME_PREDICT_COT, G05NativeBackend
from lerobot.processor import PolicyProcessorPipeline
@@ -830,3 +830,30 @@ def test_gated_checkpoint_loads_strictly():
checkpoint = Path(os.environ["LEROBOT_G05_CHECKPOINT"])
policy = G05Policy.from_pretrained(checkpoint, local_files_only=True, strict=True)
assert policy.config.source_checkpoint_revision
def test_project_stats_passes_dataset_count_through():
config = _config(normalization_mode="q01_q99")
stats = {
OBS_STATE: {"q01": torch.zeros(7), "q99": torch.ones(7), "count": torch.tensor([100])},
ACTION: {"q01": torch.zeros(7), "q99": torch.ones(7), "count": torch.tensor([100])},
}
make_pre_post_processors(config, dataset_stats=stats)
def test_named_embodiment_rebuilds_stale_camera_sizes():
config = G05Config(
checkpoint_profile="custom",
embodiment="robotwin",
raw_state_dim=14,
raw_action_dim=14,
camera_order=G05_CAMERA_PROFILES["robotwin"],
camera_sizes={
**dict.fromkeys(G05_CAMERA_PROFILES["robotwin"], (256, 256)),
"observation.images.stale_camera": (256, 256),
},
device="cpu",
)
assert set(config.camera_sizes) == set(G05_CAMERA_PROFILES["robotwin"])