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refactor(recipes): rename recipes, drop pi05_hirobot

Browse Source 
- 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  superseded by the two recipes above)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>
This commit is contained in:
Pepijn
2026-05-18 16:02:15 +02:00
parent 426d48dbbf
commit 0f5f0e4091
15 changed files with 46 additions and 103 deletions
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tests/datasets/test_language_render.py
+6 -3
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@@ -449,7 +449,10 @@ def test_vqa_frame_is_consumed_over_the_weighted_blend():
def test_canonical_recipe_can_render_low_level_branch():
recipe = TrainingRecipe.from_yaml(Path("src/lerobot/configs/recipes/pi05_hirobot.yaml"))
"""The shipped ``subtasks_vqa.yaml`` recipe's ``low_level_execution``
branch renders — a flow-only ``user(${subtask})`` turn (no text-CE
target; its supervision is the action-expert flow loss)."""
recipe = TrainingRecipe.from_yaml(Path("src/lerobot/configs/recipes/subtasks_vqa.yaml"))
low_level = TrainingRecipe(blend={"low": recipe.blend["low_level_execution"]})
rendered = render_sample(
@@ -461,6 +464,6 @@ def test_canonical_recipe_can_render_low_level_branch():
task="clean kitchen",
)
assert rendered["messages"][-1] == {"role": "assistant", "content": "subtask 0"}
assert rendered["messages"][-1] == {"role": "user", "content": "subtask 0"}
assert rendered["message_streams"][-1] == "low_level"
assert rendered["target_message_indices"] == [1]
assert rendered["target_message_indices"] == []