feat: add vision transfer backbones and IMF variants

tests/test_eval_vla_headless.py

@@ -90,6 +90,24 @@ class _FakeRenderer:
 
 
 class EvalVLAHeadlessTest(unittest.TestCase):
+    def test_prepare_observation_skips_resize_when_image_resize_shape_is_none(self):
+        obs = {
+            "images": {
+                "front": np.arange(8 * 8 * 3, dtype=np.uint8).reshape(8, 8, 3),
+            },
+            "qpos": np.zeros(16, dtype=np.float32),
+        }
+
+        with mock.patch("cv2.resize", side_effect=AssertionError("resize should be skipped")):
+            prepared = eval_vla.prepare_observation(
+                obs,
+                ["front"],
+                image_resize_shape=None,
+            )
+
+        self.assertEqual(tuple(prepared["images"]["front"].shape), (3, 8, 8))
+        self.assertEqual(tuple(prepared["qpos"].shape), (16,))
+
     def test_headless_eval_sets_mujoco_gl_to_egl_when_display_missing(self):
         cfg = OmegaConf.create({"eval": {"headless": True}})
         with mock.patch.dict(eval_vla.os.environ, {}, clear=True):