docs: explain selectable UR policy config

README.md

@@ -12,9 +12,19 @@ pinned: false
 
 # π₀.₅ UR Action Predictor
 
-This Hugging Face Space deploys the state-conditioned `pi05_ur_demo_state`
-policy trained on the local UR LeRobot dataset. It predicts an action chunk for
-inspection or download; it never connects to or commands a robot.
+This Hugging Face Space deploys a π₀.₅ policy trained on the local UR LeRobot
+dataset. It predicts an action chunk for inspection or download; it never
+connects to or commands a robot.
+
+The `Policy config` selector supports:
+
+- `pi05_ur_demo_no_state` (default): no discrete robot-state conditioning;
+- `pi05_ur_demo_state`: uses the seven current-state values as discrete state
+  conditioning.
+
+The seven state controls remain visible in both modes so configurations can be
+switched without rebuilding the page. The repository name does not select the
+configuration automatically, and changing the selection reloads the policy.
 
 ## Model repository
 

tests/test_gpu_smoke.py

@@ -13,11 +13,11 @@ class GPUCheckpointSmokeTest(unittest.TestCase):
 
         from artifacts import resolve_checkpoint_path, resolve_model_id
         from inference import run_prediction
-        from model_loader import MODEL_MANAGER
+        from model_loader import DEFAULT_POLICY_CONFIG, MODEL_MANAGER
 
         model_id = resolve_model_id()
         checkpoint = resolve_checkpoint_path()
-        policy = MODEL_MANAGER.get(model_id, checkpoint)
+        policy = MODEL_MANAGER.get(model_id, checkpoint, DEFAULT_POLICY_CONFIG)
         image = Image.fromarray(np.zeros((224, 224, 3), dtype=np.uint8))
         result = run_prediction(
             policy,

tests/test_space_config.py

@@ -18,6 +18,8 @@ def test_space_metadata_and_runtime_files():
     assert "tqdm-loggable>=0.2" in requirements
     assert (ROOT / "openpi_runtime/openpi/policies/ur_policy.py").is_file()
     assert (ROOT / "openpi_runtime/openpi_client/base_policy.py").is_file()
+    assert "`pi05_ur_demo_no_state` (default)" in readme
+    assert "`pi05_ur_demo_state`" in readme
 
 
 def test_vendored_config_contains_state_conditioned_ur_policy():