refactor(recipes): rename recipes, drop pi05_hirobot

- hirobot.yaml            -> subtasks_vqa.yaml
- hirobot_memory.yaml     -> subtask_mem_vqa_speech.yaml
- pi05_hirobot.yaml       -> deleted (stale: uses plan, top-camera names;
  superseded by the two recipes above)
- smolvla2_hirobot.yaml   -> deleted (was untracked stale junk)

Updated the smolvla2 / pi052 `recipe_path` config defaults, all
docstring / comment references, the annotation-pipeline + recipe docs,
and the three tests that loaded pi05_hirobot.yaml (repointed to the
renamed recipes; the low-level-branch and pipeline-render assertions
now accept a flow-only `low_level` stream as valid supervision, since
the new recipes' low_level_execution has no text-CE target).

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

tests/configs/test_recipe.py

@@ -18,7 +18,9 @@ def test_message_recipe_validates_unknown_binding():
 
 
 def test_canonical_recipe_loads():
-    recipe = TrainingRecipe.from_yaml(Path("src/lerobot/configs/recipes/pi05_hirobot.yaml"))
+    recipe = TrainingRecipe.from_yaml(
+        Path("src/lerobot/configs/recipes/subtask_mem_vqa_speech.yaml")
+    )
 
     assert recipe.blend is not None
     assert set(recipe.blend) == {
@@ -29,4 +31,4 @@ def test_canonical_recipe_loads():
         "ask_vqa_top",
         "ask_vqa_wrist",
     }
-    assert sum(component.weight for component in recipe.blend.values()) == pytest.approx(0.96)
+    assert sum(component.weight for component in recipe.blend.values()) == pytest.approx(1.0)