Upload strict640x480-v2/code/evaluate_stereo_act.py with huggingface_hub

strict640x480-v2/code/evaluate_stereo_act.py

@@ -32,7 +32,10 @@ def load(checkpoint, device):
                   enc_layers=cfg.get("enc_layers", 4), dec_layers=cfg.get("dec_layers", 7),
                   dino_model=cfg.get("dino_model", "facebook/dinov3-vitb16-pretrain-lvd1689m"),
                   defm_model=cfg.get("defm_model", "defm_vit_s14"))
-    variant = cfg.get("policy_variant") or ("stereo_sync_arca" if cfg.get("mode") == "sync" else "stereo_arca")
+    # A missing policy_variant denotes the original Stereo-ACT checkpoint.
+    # Only historical checkpoints explicitly tagged mode=sync may infer the
+    # Sync-ARCA variant; never default a vanilla Stereo checkpoint to ARCA.
+    variant = cfg.get("policy_variant") or ("stereo_sync_arca" if cfg.get("mode") == "sync" else "stereo")
     state_dim, action_dim = cfg.get("state_dim", len(raw_stats["q_mean"])), cfg.get("action_dim", len(raw_stats["a_mean"]))
     if variant == "stereo_ffn_moe":
         from stereo_decoder_variants import StereoFFNMoE