Release 2026-09-08 (i4 6cc9d886)

.file_mapping.json

@@ -1,7 +1,7 @@
 {
-  "_source_commit": "aa88627921856c9c83ab8edf42c46e506255d3a6-dirty",
-  "_dest_commit": "fcd1d7eb07ad76dd7f15c61185a2377f15918ac7",
-  "_generated_at": "2026-09-07T05:52:05Z",
+  "_source_commit": "6cc9d886c99205e0b3d34f1b96b7eaa893122764-dirty",
+  "_dest_commit": "4e0fe142e2aeb74b456fbf9e0c0748d7028bdd7c",
+  "_generated_at": "2026-09-08T05:52:20Z",
   "files": {
     "imaginaire/__init__.py": "cosmos_framework/__init__.py",
     "imaginaire/attention/__init__.py": "cosmos_framework/model/attention/__init__.py",

cosmos_framework/data/generator/action/utils/domain_utils.py

@@ -8,10 +8,9 @@
     "av": 1,
     "camera_pose": 2,
     "hand_pose": 3,
-    # Alias for the WebHumanAction (Action100M) Lance hand adapter. Same domain
-    # as "hand_pose" (shared with embodiment_a) so it reuses the same action2llm/llm2action
-    # DomainAwareLinear weights rather than training a fresh encoder/decoder.
-    "webhumanaction_hand": 3,
+    # WebHumanAction omits the camera prefix from its 48D native hand layout,
+    # so it must not reuse hand_pose/embodiment_a's camera-inclusive domain 3 projector.
+    "webhumanaction_hand": 31,
     "pusht": 4,
     "libero": 5,
     "umi": 6,
@@ -36,7 +35,7 @@
     "behavior1k_lerobot": 22,  # BEHAVIOR-1K R1Pro mobile bimanual (23D joint action)
     "maniparena": 23,  # ManipArena x2robot/ex001_6r dual-arm; own 20D EE-direct action projection
     # New dedicated slot (not reusing agibot's domain 15): WebHumanAction body
-    # (camera+head+wrists, yesCam 36D) trains its own action2llm/llm2action
+    # (ego/head+wrists+fingertips, no camera action, 57D) trains its own action2llm/llm2action
     # DomainAwareLinear weights from scratch instead of continuing agibot's.
     "webhumanaction_body": 24,
     "so101-molmo-midtrain-15hz": 25,
@@ -72,7 +71,7 @@
     "agibotworld": 29,
     "embodiment_c_gripper": 29,
     "embodiment_c_gripper_ext": 29,
-    "webhumanaction_body": 36,  # camera(9) + head(9) + R_wrist(9) + L_wrist(9)
+    "webhumanaction_body": 57,  # ego/head(9) + [R_wrist(9)+R_fingertips(15)] + [L_wrist(9)+L_fingertips(15)]
     "xdof_yam": 20,
     "molmoact2_yam": 20,
     "abc_yam": 20,

cosmos_framework/model/generator/omni_mot_causal_model.py

@@ -429,7 +429,12 @@ def _resolve_teacher_forcing_replay_policy(value: Any) -> TeacherForcingReplayPo
     if OmegaConf.is_config(value):
         value = OmegaConf.to_object(value)
     if isinstance(value, dict):
-        value = TeacherForcingReplayPolicyConfig(**value)
+        # Drop lazy-config serializer metadata before construction. A config that has been
+        # round-tripped through an exported checkpoint carries a "_type" marker alongside
+        # the real fields, and attrs rejects it as an unexpected keyword. In-process
+        # construction never sees the marker, so this only failed when loading from an
+        # export -- which is every public run of a causal model.
+        value = TeacherForcingReplayPolicyConfig(**{k: v for k, v in value.items() if not k.startswith("_")})
     if not isinstance(value, TeacherForcingReplayPolicyConfig):
         raise TypeError(
             "teacher_forcing_replay_policy must resolve to a TeacherForcingReplayPolicyConfig, "

cosmos_framework/model/generator/omni_mot_causal_model_test.py

@@ -2683,3 +2683,47 @@ def test_training_step_resets_flag_on_error(self) -> None:
                 model.training_step({}, iteration=0)
 
         assert model._bidirectional_step_active is False
+
+
+@pytest.mark.L0
+@pytest.mark.CPU
+def test_teacher_forcing_replay_policy_resolves_a_serialized_config_dict() -> None:
+    """A config round-tripped through an exported checkpoint must still resolve.
+
+    Serializing a config adds a "_type" marker next to the real fields. Passing that
+    dict straight to attrs raised TypeError("unexpected keyword argument '_type'"), so
+    every causal model failed to load from an exported artifact while in-process
+    construction -- which never sees the marker -- kept working.
+    """
+    from cosmos_framework.configs.base.defaults.replay_attention import (
+        TeacherForcingReplayPolicyConfig,
+    )
+    from cosmos_framework.model.generator.omni_mot_causal_model import (
+        _resolve_teacher_forcing_replay_policy,
+    )
+
+    serialized = {
+        "_type": "cosmos_framework.configs.base.defaults.replay_attention.TeacherForcingReplayPolicyConfig",
+        "control_visibility": "current",
+        "controls_read_strict_past_clean_rgb": True,
+        "clean_pass_causality": "chunk",
+    }
+
+    resolved = _resolve_teacher_forcing_replay_policy(serialized)
+
+    assert isinstance(resolved, TeacherForcingReplayPolicyConfig)
+    assert resolved.control_visibility == "current"
+    assert resolved.controls_read_strict_past_clean_rgb is True
+    assert resolved.clean_pass_causality == "chunk"
+
+
+@pytest.mark.L0
+@pytest.mark.CPU
+def test_teacher_forcing_replay_policy_still_rejects_unknown_real_fields() -> None:
+    """Stripping the marker must not turn typos into silently ignored fields."""
+    from cosmos_framework.model.generator.omni_mot_causal_model import (
+        _resolve_teacher_forcing_replay_policy,
+    )
+
+    with pytest.raises(TypeError, match="control_visibilty"):
+        _resolve_teacher_forcing_replay_policy({"_type": "x", "control_visibilty": "current"})