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feat(language): add motion (persistent) and trace (event-only) styles

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Promote the previously-reserved motion/trace styles to first-class core
styles. motion routes to language_persistent (it tracks robot state over
time); trace routes to language_events (single-moment annotations).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-04-27 14:21:49 +02:00
parent b43dc39ba4
commit 0b06790da0
2 changed files with 7 additions and 5 deletions
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src/lerobot/datasets/language.py
+3 -3
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@@ -27,12 +27,12 @@ LANGUAGE_COLUMNS = (LANGUAGE_PERSISTENT, LANGUAGE_EVENTS)
PERSISTENT_ROW_FIELDS = ("role", "content", "style", "timestamp", "tool_calls") PERSISTENT_ROW_FIELDS = ("role", "content", "style", "timestamp", "tool_calls")
EVENT_ROW_FIELDS = ("role", "content", "style", "tool_calls") EVENT_ROW_FIELDS = ("role", "content", "style", "tool_calls")
CORE_STYLES = {"subtask", "plan", "memory", "interjection", "vqa"} CORE_STYLES = {"subtask", "plan", "memory", "motion", "interjection", "vqa", "trace"}
EXTENDED_STYLES = set() EXTENDED_STYLES = set()
STYLE_REGISTRY = CORE_STYLES | EXTENDED_STYLES STYLE_REGISTRY = CORE_STYLES | EXTENDED_STYLES
PERSISTENT_STYLES = {"subtask", "plan", "memory"} PERSISTENT_STYLES = {"subtask", "plan", "memory", "motion"}
EVENT_ONLY_STYLES = {"interjection", "vqa"} EVENT_ONLY_STYLES = {"interjection", "vqa", "trace"}
LanguageColumn = Literal["language_persistent", "language_events"] LanguageColumn = Literal["language_persistent", "language_events"]
tests/datasets/test_language.py
+4 -2
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@@ -33,15 +33,17 @@ def test_language_arrow_schema_has_expected_fields():
def test_style_registry_routes_columns(): def test_style_registry_routes_columns():
assert {"subtask", "plan", "memory"} == PERSISTENT_STYLES assert {"subtask", "plan", "memory", "motion"} == PERSISTENT_STYLES
assert {"interjection", "vqa"} == EVENT_ONLY_STYLES assert {"interjection", "vqa", "trace"} == EVENT_ONLY_STYLES
assert PERSISTENT_STYLES | EVENT_ONLY_STYLES <= STYLE_REGISTRY assert PERSISTENT_STYLES | EVENT_ONLY_STYLES <= STYLE_REGISTRY
assert column_for_style("subtask") == LANGUAGE_PERSISTENT assert column_for_style("subtask") == LANGUAGE_PERSISTENT
assert column_for_style("plan") == LANGUAGE_PERSISTENT assert column_for_style("plan") == LANGUAGE_PERSISTENT
assert column_for_style("memory") == LANGUAGE_PERSISTENT assert column_for_style("memory") == LANGUAGE_PERSISTENT
assert column_for_style("motion") == LANGUAGE_PERSISTENT
assert column_for_style("interjection") == LANGUAGE_EVENTS assert column_for_style("interjection") == LANGUAGE_EVENTS
assert column_for_style("vqa") == LANGUAGE_EVENTS assert column_for_style("vqa") == LANGUAGE_EVENTS
assert column_for_style("trace") == LANGUAGE_EVENTS
assert column_for_style(None) == LANGUAGE_EVENTS assert column_for_style(None) == LANGUAGE_EVENTS