Has anyone tried evaluating pi05 models with a unitree G1 with this code?

[kodikarthik21]

Hi, I am looking to implement a pi05 VLA for a Unitree G1. For starters, I am trying to load a hf model (pi05_libero_finetuned). The implementation isn't that trivial like they have mentioned in the readme. I am getting action space mismatch errors.

Please ensure your dataset and policy use consistent feature names.
If your dataset uses different observation keys (e.g., cameras named differently), use the `--rename_map` argument, for example:
  --rename_map='{"observation.images.left": "observation.images.camera1", "observation.images.top": "observation.images.camera2"}'

Did anyone get this? Or am I doing something wrong?

[kodikarthik21]

Update: I mapped 3 image states. But there is one state on the humanoid that does not have any mapping. How do I ignore that camera when I pass it into the model?