remove bad uma checkpoint and make task heads mandatory to specify - #219
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This was referenced Aug 28, 2026
OwenPriceSkelly
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Sep 1, 2026
The download phase runs setup(checkpoint, "cpu") via _run_download, but unlike verify_checkpoint it never fell back to the env's declared VERIFY_KWARGS when no explicit setup_kwargs were given. Since #219 made multi-head checkpoints raise without a head selection, every such checkpoint (uma task=..., mace-mh-1 head=...) failed the sync's download phase with e.g. "download: ValueError: uma-s-1p1 is multi-task and has no default head" (first seen on the 2026-08-28 Aurora sync, 1.6.3). Resolve the hosting env first, then default setup_kwargs to verify_kwargs_for(root, env_name, checkpoint) — explicit kwargs still win, and envs without VERIFY_KWARGS still get {}. Co-authored-by: Claude Fable 5 <noreply@anthropic.com>
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Changes driven by Garden-AI/almanac#43