Merge feat/language-annotation-pipeline into feat/smolvla-on-steerable

Bring the authoritative annotation pipeline from the annotation branch.
The annotation surface is forced to EXACTLY match feat/language-annotation-
pipeline (the annotation branch is the source of truth for annotation
code), which also removes smolvla's stale copies:
  - deleted: steerable_pipeline/vocabulary.py, tests/annotations/test_
    vocabulary.py, prompts/module_0_vocabulary.txt, module_1_action_record
    .txt, module_3_vqa.txt, module_1_plan.txt, and the old module_* prompt
    names (now plan_*/interjections_*/vqa.txt).
  - synced: all of src/lerobot/annotations/, lerobot_annotate.py,
    examples/annotations/, tests/annotations/, datasets/language.py,
    tests/datasets/test_language.py, docs/annotation_pipeline.mdx.

Non-annotation conflicts resolved by union (keeping both branches' intent):
  - pyproject.toml: keep smolvla's pi extra (+sentencepiece) and add the
    molmoact2 extra from main.
  - policies/factory.py: keep both dataset_repo_id (pi052 FAST tokenizer)
    and dataset_meta (both are referenced); union the policy-type docstring.
  - scripts/lerobot_train.py: keep smolvla's pi052 / use_relative_actions
    processor-rebuild block.
  - uv.lock: regenerated from the merged pyproject.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

pyproject.toml

@@ -204,6 +204,7 @@ wallx = [
     "lerobot[qwen-vl-utils-dep]",
 ]
 pi = ["lerobot[transformers-dep]", "lerobot[scipy-dep]", "lerobot[sentencepiece-dep]"]
+molmoact2 = ["lerobot[transformers-dep]", "lerobot[peft-dep]", "lerobot[scipy-dep]"]
 smolvla = ["lerobot[transformers-dep]", "num2words>=0.5.14,<0.6.0", "accelerate>=1.7.0,<2.0.0"]
 multi_task_dit = ["lerobot[transformers-dep]", "lerobot[diffusers-dep]"]
 groot = [
@@ -217,6 +218,8 @@ groot = [
     "flash-attn>=2.5.9,<3.0.0 ; sys_platform != 'darwin'"
 ]
 sarm = ["lerobot[transformers-dep]", "pydantic>=2.0.0,<3.0.0", "faker>=33.0.0,<35.0.0", "lerobot[matplotlib-dep]", "lerobot[qwen-vl-utils-dep]"]
+robometer = ["lerobot[transformers-dep]", "lerobot[qwen-vl-utils-dep]", "lerobot[peft-dep]"]
+topreward = ["lerobot[transformers-dep]"]
 xvla = ["lerobot[transformers-dep]"]
 eo1 = ["lerobot[transformers-dep]", "lerobot[qwen-vl-utils-dep]"]
 hilserl = ["lerobot[transformers-dep]", "lerobot[dataset]", "gym-hil>=0.1.13,<0.2.0", "lerobot[grpcio-dep]", "lerobot[placo-dep]"]
@@ -225,16 +228,19 @@ hilserl = ["lerobot[transformers-dep]", "lerobot[dataset]", "gym-hil>=0.1.13,<0.
 async = ["lerobot[grpcio-dep]", "lerobot[matplotlib-dep]"]
 peft = ["lerobot[transformers-dep]", "lerobot[peft-dep]"]
 
-# Annotation pipeline (lerobot-annotate). vllm is the preferred backend
-# on Linux, with a transformers fallback elsewhere; openai is the default
-# backend and talks to any OpenAI-compatible server (``vllm serve`` /
-# ``transformers serve`` / hosted endpoints). Distributed execution is
-# delegated to Hugging Face Jobs (see examples/annotations/run_hf_job.py).
+# Annotation pipeline (lerobot-annotate). The only backend is ``openai``,
+# which talks to any OpenAI-compatible server (``vllm serve`` /
+# ``transformers serve`` / hosted). Distributed runs use Hugging Face Jobs
+# (see examples/annotations/run_hf_job.py).
 annotations = [
     "lerobot[dataset]",
     "lerobot[transformers-dep]",
     "openai>=1.40,<2.0",
-    "vllm>=0.6.0,<1.0.0; sys_platform == 'linux'",
+    # ``vllm`` is intentionally NOT a hard dep: it pins an older torch, and
+    # uv's single unified lock would then cap ``torch`` for every extra
+    # (e.g. forcing 2.8 while ``torchcodec`` in [dataset] needs 2.11 -> ABI
+    # break in CI). The HF Jobs image (``vllm/vllm-openai``) provides vLLM;
+    # install it locally only if you run your own ``vllm serve``.
 ]
 
 # Tool implementations under src/lerobot/tools/. Each tool's dependencies
@@ -300,6 +306,7 @@ all = [
     "lerobot[multi_task_dit]",
     "lerobot[wallx]",
     "lerobot[pi]",
+    "lerobot[molmoact2]",
     "lerobot[smolvla]",
     # "lerobot[groot]", TODO(Steven): Gr00t requires specific installation instructions for flash-attn
     "lerobot[xvla]",
@@ -314,6 +321,8 @@ all = [
     "lerobot[libero]; sys_platform == 'linux'",
     "lerobot[metaworld]",
     "lerobot[sarm]",
+    "lerobot[robometer]",
+    "lerobot[topreward]",
     "lerobot[peft]",
     # "lerobot[unitree_g1]", TODO: Unitree requires specific installation instructions for unitree_sdk2
 ]
@@ -432,8 +441,11 @@ default.extend-ignore-identifiers-re = [
     "ein",
     "thw",
     "inpt",
+    "arange",
+    "is_compileable",
     "ROBOTIS",
-    "OT_VALUE"
+    "OT_VALUE",
+    "VanderBilt"
 ]
 
 # TODO: Uncomment when ready to use