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Steven Palma
9ce6633518
N1.5 removal is now explicit and actionable: - Legacy N1.5 checkpoint configs (tokenizer_assets_repo) parse and fail with a single clear error pointing to lerobot==0.5.1 instead of a cryptic draccus DecodingError - Removed N1.5 processor registry names (groot_pack_inputs_v3, groot_eagle_encode_v3, groot_eagle_collate_v3) are stubbed to raise the same guidance; groot_action_unpack_unnormalize_v1 changed semantics, so the step is re-registered as _v2 and _v1 is stubbed - N1.5 detection also recognizes checkpoint config.json content (model_type/architectures/eagle backbone), not just path names; every rejection surface includes the migration guidance - groot.mdx documents the breaking change and migration path Runtime fixes: - use_bf16=False no longer crashes (compute_dtype only set when used) - GrootN17ActionDecodeStep handles the 2-D (B, D) actions delivered by sync select_action (relative eef/non-eef decode was broken in lerobot-eval/record flows) - Postprocessor falls back to dataset stats when a raw checkpoint lacks the configured embodiment tag instead of silently emitting normalized [-1, 1] actions - Hub-hosted finetuned N1.7 checkpoints load: the processor config is resolved via hf_hub_download for non-local paths, with a tolerant retry when inspection fails - Raw-checkpoint processor branch honors caller overrides (device, rename_map) instead of dropping them - Relative-action raw-state cache is per-instance instead of process-global (cross-instance contamination) - Camera/modality-key mismatches warn, including the zero-match fallback; checkpoint revision is no longer forwarded into backbone loading; deprecated Qwen2VLImageProcessorFast replaced with Qwen2VLImageProcessor Config/UX: - GrootConfig defaults are the N1.7 values; explicitly passed legacy N1.5-era values (chunk_size=50, max_state_dim=64, ...) are remapped with a warning instead of silently - Explicit action_decode_transform='none' wins over the libero_sim default (new 'auto' sentinel) and survives save/load round-trips Tests/CI: - pytest.importorskip guards so fast_tests tiers pass without transformers (was 10 failures, now 0) - Regression tests for every fix; from_pretrained rejection tests now actually exercise from_pretrained - Parity test reads the artifact seed, fails on shape mismatch instead of silently truncating, and a new case runs LeRobot's real Qwen3-VL preprocessing on raw observations dumped by the producer - docs: dead huggingface-cli download replaced with hf download Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>