Auto-sync: 2026-06-29 17:58:49 (part 4)

tests/test_maniskill_policy_rollout.py

@@ -16,6 +16,7 @@ from dovla_cil.data.schema import (
 )
 from dovla_cil.eval.maniskill_policy_rollout import (
     _RolloutCase,
+    _align_residual_horizon_to_policy,
     _adapt_action_dim,
     _attach_retrieved_residual_candidates,
     _diagnostic_candidate_indices,
@@ -766,6 +767,19 @@ def test_retrieval_residual_mode_searches_scale_grid_along_tangent_rays() -> Non
     )
 
 
+def test_residual_horizon_alignment_preserves_policy_tail() -> None:
+    import torch
+
+    policy_mean = torch.zeros(2, 4, 1)
+    residuals = torch.ones(2, 3, 2, 1)
+
+    aligned = _align_residual_horizon_to_policy(policy_mean, residuals, torch=torch)
+
+    assert aligned.shape == (2, 3, 4, 1)
+    assert torch.allclose(aligned[:, :, :2], torch.ones(2, 3, 2, 1))
+    assert torch.allclose(aligned[:, :, 2:], torch.zeros(2, 3, 2, 1))
+
+
 def test_retrieval_residual_candidate_type_bonus_can_select_typed_residual() -> None:
     import torch