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>
The test loaded MODEL_PATH='aractingi/bimanual-handover-groot-10k', an N1.5
checkpoint (config base_model_path=nvidia/GR00T-N1.5-3B, no model_version). On
load, model_version defaults to n1.7 while the base path infers n1.5, so the
version-consistency guard in GrootConfig.__post_init__ raised ValueError and both
test_lerobot_groot_inference and test_lerobot_groot_forward_pass failed. N1.5 is no
longer a supported model_version.
Adopt the test for N1.7:
- MODEL_PATH -> nvidia/GR00T-N1.7-3B (root-level sharded safetensors; loads via
GrootPolicy.from_pretrained as a base N1.7 model).
- Embodiment tag 'gr1' (N1.5) -> 'gr1_unified' (valid N1.7 tag from the checkpoint
embodiment_id.json), via a single EMBODIMENT_TAG constant.
- DUMMY_ACTION_HORIZON 16 -> 40 to match N1.7's native action-chunk size.
- Docstrings/labels updated to 'GR00T N1.7'.
Both tests run and pass on CUDA; full tests/policies/groot/ suite is
73 passed / 0 failed / 0 skipped.
Steven Palma