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refactor(pi052): trim PR — remove say tool, debug gates, dead code; move runtime

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Cleanup pass over the language-support PR to cut LOC and scope creep.

Removals:
- SayTool + tools/ package (registry, Tool protocol, [tools] extra) and the
  runtime's tool-dispatch path. Kept <say> training supervision and inference
  stripping so speech-annotated datasets still train.
- WeightedEpisodeAwareSampler + VQA oversampling wiring
  (_build_vqa_oversample_weights, vqa_target_fraction) — training uses plain
  EpisodeAwareSampler again.
- Debug env-gates PI052_DEBUG_TENSORS, PI052_SUBTASK_USE_TASK, EVAL_TASK_OVERRIDE.
- Dead code: broken _tp._DUMP_BUDGET block, unused imports (copy/Tensor,
  RevisionNotFoundError, LeRobotDataset, os), messages_for_vqa, steps.py shim
  (modeling imports pi052_adapter directly), duplicated _emit, builtins.type[T].

Moves:
- Policy-agnostic runtime -> src/lerobot/runtime/ (LanguageConditionedRuntime +
  adapter Protocol + state); pi052 keeps only its adapter + CLI. Tests -> tests/runtime/.

Other:
- Compacted verbose AI-authored comments/docstrings across pi052 (kept the
  hard-won DDP / barrier-timeout / reduce-max / VQA-routing notes).
- Relocated LM-head prediction debug helper to pi052/debug_utils.py.
- Fixed test_render_messages: assert task-fallback render (current behavior)
  instead of the stale no-op expectation.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-07-02 14:16:41 +02:00
parent d099ac91b3
commit 4fa9578e3d
32 changed files with 338 additions and 1266 deletions
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pyproject.toml
-8
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@@ -250,14 +250,6 @@ annotations = [
# install it locally only if you run your own ``vllm serve``.
]
# Tool implementations under src/lerobot/tools/. Each tool's dependencies
# are isolated so adding a new tool doesn't bloat the base install.
# Currently only `say` (Kyutai pocket-tts; CPU-only, ~100M params).
tools = [
"pocket-tts>=1.0.0,<3.0.0",
"scipy>=1.11.0,<2.0.0", # SayTool.output_dir uses scipy.io.wavfile
]
# Development
dev = ["pre-commit>=3.7.0,<5.0.0", "debugpy>=1.8.1,<1.9.0", "lerobot[grpcio-dep]", "grpcio-tools>=1.73.1,<2.0.0", "mypy>=1.19.1", "ruff>=0.14.1", "lerobot[notebook]"]
notebook = ["jupyter>=1.0.0,<2.0.0", "ipykernel>=6.0.0,<7.0.0"]