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

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Resolves conflicts from 66 commits on the base branch:

* pyproject.toml — keep base's transformers>=5.4.0,<5.6.0; add the
  sentencepiece-dep entry pi052 (FAST action tokenizer) needs.
* policies/__init__.py — keep pi052 export; drop the
  RewardClassifierConfig export that base removed.
* policies/factory.py — docstring list resolution (keep pi052; drop
  reward_classifier, removed by base).
* annotations/steerable_pipeline/executor.py — adopt base's renamed
  _ensure_annotation_metadata_in_info (it already advertises the say
  tool); drop pi052's older _ensure_tools_in_info call.
* configs/train.py — keep pi052's vqa_target_fraction; adopt base's
  SampleWeightingConfig (legacy RA-BC inline params already covered
  by the migration shim base added).
* scripts/lerobot_train.py — merge pi052's per-policy processor
  rebuild + dataset_repo_id pass-through with base's active_cfg /
  is_reward_model_training tightening, and re-route vqa-weighted
  sampler to active_cfg.drop_n_last_frames.
* datasets/language_render.py — adopt base's _select_one + timestamp
  tolerance (drops pi052's stale _select_latest / per-style sort_key).
* tests — adopt base's parametrized per-camera blend + tolerance
  test; drop pi052 tests that overlap with base's tighter rewrites;
  keep pi052's flow-only / VQA-blend coverage; add a
  test_canonical_recipe_loads check on subtask_mem_vqa_speech.yaml.
* policies/pi052/processor_pi052.py — import RenderMessagesStep
  directly from render_messages_processor (base intentionally
  dropped it from lerobot.processor's re-exports).
* uv.lock — regenerated cleanly from base + pi052's pocket-tts /
  beartype.

All 67 touched tests pass (30 pi052 + 37 recipe / language-render /
pipeline / render-messages).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-05-25 14:47:09 +02:00
parent 67bdf4690e 471b2b1b1d
commit 1ff10b935c
210 changed files with 14334 additions and 5728 deletions
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tests/processor/test_render_messages_processor.py
+9 -5
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@@ -1,11 +1,15 @@
#!/usr/bin/env python
import torch
import pytest
from lerobot.configs.recipe import MessageTurn, TrainingRecipe
from lerobot.processor.converters import create_transition
from lerobot.processor.render_messages_processor import RenderMessagesStep
from lerobot.types import TransitionKey
pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
import torch # noqa: E402
from lerobot.configs.recipe import MessageTurn, TrainingRecipe # noqa: E402
from lerobot.processor.converters import create_transition # noqa: E402
from lerobot.processor.render_messages_processor import RenderMessagesStep # noqa: E402
from lerobot.types import TransitionKey # noqa: E402
def test_render_messages_step_noops_without_language_columns():