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fix(language): drop motion from VIEW_DEPENDENT_STYLES

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Motion primitives are described in robot-frame (joint / Cartesian) terms,
not pixel space, so they are camera-agnostic. Only `vqa` (event) and
`trace` (event, pixel-trajectory) are view-dependent.

The `camera` field stays on PERSISTENT_ROW_FIELDS for schema symmetry —
the validator, resolver, and HF feature mapping behave identically across
the two columns regardless of which styles populate `camera` today —
but persistent rows now always have `camera=None` in practice.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-04-30 10:54:12 +02:00
parent 5a6aa64570
commit 1ca38d9748
2 changed files with 18 additions and 6 deletions
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tests/datasets/test_language.py
+9 -4
View File
@@ -58,10 +58,13 @@ def test_style_registry_routes_columns():
def test_view_dependent_styles():
assert {"vqa", "motion", "trace"} == VIEW_DEPENDENT_STYLES
# motion lives in PERSISTENT_STYLES and is described in robot-frame
# (joint / Cartesian) terms, so it is NOT view-dependent. Only vqa
# (event) and trace (event, pixel-trajectory) carry a camera tag.
assert {"vqa", "trace"} == VIEW_DEPENDENT_STYLES
assert is_view_dependent_style("vqa")
assert is_view_dependent_style("motion")
assert is_view_dependent_style("trace")
assert not is_view_dependent_style("motion")
assert not is_view_dependent_style("subtask")
assert not is_view_dependent_style("plan")
assert not is_view_dependent_style("interjection")
@@ -70,22 +73,24 @@ def test_view_dependent_styles():
def test_validate_camera_field_requires_camera_for_view_dependent_styles():
validate_camera_field("vqa", "observation.images.top")
validate_camera_field("motion", "observation.images.wrist")
validate_camera_field("trace", "observation.images.front")
with pytest.raises(ValueError, match="view-dependent"):
validate_camera_field("vqa", None)
with pytest.raises(ValueError, match="view-dependent"):
validate_camera_field("motion", "")
validate_camera_field("trace", "")
def test_validate_camera_field_rejects_camera_on_non_view_dependent_styles():
validate_camera_field("subtask", None)
validate_camera_field("plan", None)
validate_camera_field("memory", None)
validate_camera_field("motion", None)
validate_camera_field("interjection", None)
validate_camera_field(None, None)
with pytest.raises(ValueError, match="must have camera=None"):
validate_camera_field("subtask", "observation.images.top")
with pytest.raises(ValueError, match="must have camera=None"):
validate_camera_field("motion", "observation.images.top")
with pytest.raises(ValueError, match="must have camera=None"):
validate_camera_field("interjection", "observation.images.top")
with pytest.raises(ValueError, match="must have camera=None"):