annotate: ruff lint + format pass

Quality-gate fixes after the main merge:
  * UP037: drop redundant quotes from PlanConfig forward-ref annotations
    (action_records / task_aug_axes) — safe under 'from __future__ import
    annotations'.
  * ruff format applied to config.py, executor.py, general_vqa.py,
    plan_subtasks_memory.py, validator.py, lerobot_annotate.py.

No behavior change.

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

src/lerobot/annotations/steerable_pipeline/config.py

@@ -116,7 +116,7 @@ class PlanConfig:
     # that record back to canonical subtask text — reducing the VLM's
     # "creative" surface to just the perception step. See
     # ``ActionRecordsConfig`` for details. Off by default (back-compat).
-    action_records: "ActionRecordsConfig" = field(default_factory=lambda: ActionRecordsConfig())
+    action_records: ActionRecordsConfig = field(default_factory=lambda: ActionRecordsConfig())
 
     # Structured 5-axis augmentation taxonomy for the t=0 task variants
     # (replaces the free-form ``n_task_rephrasings`` flow when enabled).
@@ -124,7 +124,7 @@ class PlanConfig:
     # free-form rephrasings, the VLM produces variants along named
     # axes (synonym / omit_arm / omit_orientation / omit_grasp_method /
     # combined). Off by default (back-compat).
-    task_aug_axes: "TaskAugAxesConfig" = field(default_factory=lambda: TaskAugAxesConfig())
+    task_aug_axes: TaskAugAxesConfig = field(default_factory=lambda: TaskAugAxesConfig())
 
 
 @dataclass
@@ -136,12 +136,12 @@ class ActionRecordsConfig:
     subtask to extract a typed record::
 
         {
-          "verb": "pick" | "place" | "press" | ...,    # closed vocabulary
+            "verb": "pick" | "place" | "press" | ...,  # closed vocabulary
-          "object": "<canonical_object_name>",
+            "object": "<canonical_object_name>",
-          "arm": "left" | "right" | "both" | null,
+            "arm": "left" | "right" | "both" | null,
-          "grasp_type": "pinch" | "wrap" | "hook" | ... | null,
+            "grasp_type": "pinch" | "wrap" | "hook" | ... | null,
-          "destination": "<canonical_destination>" | null,
+            "destination": "<canonical_destination>" | null,
-          "mistake": "<short text>" | null,
+            "mistake": "<short text>" | null,
         }
 
     The record is emitted as a separate row with ``style="action_record"``
@@ -176,16 +176,34 @@ class ActionRecordsConfig:
     # exactly one. Override per-dataset (e.g. ``["pick", "place", "open",
     # "close"]`` for door-only manipulation) for tighter constraint.
     verb_vocabulary: tuple[str, ...] = (
-        "pick", "place", "push", "pull", "open", "close", "turn",
+        "pick",
-        "press", "lift", "insert", "pour", "move", "reach", "grasp",
+        "place",
-        "release", "wipe", "dump",
+        "push",
+        "pull",
+        "open",
+        "close",
+        "turn",
+        "press",
+        "lift",
+        "insert",
+        "pour",
+        "move",
+        "reach",
+        "grasp",
+        "release",
+        "wipe",
+        "dump",
     )
 
     # Closed grasp-type vocabulary. ``null`` is always allowed (no
     # contact / unclear). Adjust per-hardware (e.g. drop ``hook`` /
     # ``key`` for parallel-jaw grippers).
     grasp_vocabulary: tuple[str, ...] = (
-        "pinch", "wrap", "hook", "key", "lateral",
+        "pinch",
+        "wrap",
+        "hook",
+        "key",
+        "lateral",
     )
 
 

src/lerobot/annotations/steerable_pipeline/executor.py

@@ -238,9 +238,7 @@ class Executor:
         prompt path is reused.
         """
         if not self.plan.enabled or not self.interjections.enabled:
-            return PhaseResult(
+            return PhaseResult(name="plan_update", episodes_processed=0, episodes_skipped=len(records))
-                name="plan_update", episodes_processed=0, episodes_skipped=len(records)
-            )
         processed = 0
         for record in records:
             staging = EpisodeStaging(staging_dir, record.episode_index)

src/lerobot/annotations/steerable_pipeline/modules/general_vqa.py

@@ -206,9 +206,7 @@ class GeneralVqaModule:
             episode_task=record.episode_task,
             question_type=question_type,
         )
-        images = self.frame_provider.frames_at(
+        images = self.frame_provider.frames_at(record, [frame_timestamp], camera_key=camera_key)
-            record, [frame_timestamp], camera_key=camera_key
-        )
         content = [*to_image_blocks(images), {"type": "text", "text": prompt}]
         return [{"role": "user", "content": content}]
 

src/lerobot/annotations/steerable_pipeline/modules/plan_subtasks_memory.py

@@ -172,9 +172,7 @@ class PlanSubtasksMemoryModule:
         # "what's still left" at inference time.
         for span in subtask_spans:
             boundary_t = snap_to_frame(span["start"], record.frame_timestamps)
-            plan_text = self._generate_plan(
+            plan_text = self._generate_plan(record, subtask_spans, refresh_t=boundary_t, task=effective_task)
-                record, subtask_spans, refresh_t=boundary_t, task=effective_task
-            )
             if plan_text is not None:
                 rows.append(
                     {
@@ -336,7 +334,9 @@ class PlanSubtasksMemoryModule:
         if not frames:
             logger.debug(
                 "action_record: no frames at span %.2f-%.2f for ep %s; skipping",
-                start_t, end_t, record.episode_index,
+                start_t,
+                end_t,
+                record.episode_index,
             )
             return None
 
@@ -811,12 +811,15 @@ class PlanSubtasksMemoryModule:
         import json  # noqa: PLC0415
 
         subtasks_json = json.dumps(
-            {"subtasks": [{"text": s["text"], "start": round(s["start"], 3), "end": round(s["end"], 3)} for s in spans]},
+            {
+                "subtasks": [
+                    {"text": s["text"], "start": round(s["start"], 3), "end": round(s["end"], 3)}
+                    for s in spans
+                ]
+            },
             indent=2,
         )
-        prompt = load_prompt("module_1_subtask_verify").format(
+        prompt = load_prompt("module_1_subtask_verify").format(episode_task=task, subtasks_json=subtasks_json)
-            episode_task=task, subtasks_json=subtasks_json
-        )
         kept_raw = self._vlm_field(self._video_message(record, prompt, window=window), "subtasks")
         # Windowed verify: the video is sampled from the absolute window
         # ``[w0, w1]`` but the model perceives it as a clip starting at 0,
@@ -824,9 +827,7 @@ class PlanSubtasksMemoryModule:
         # Clamp to that relative range and skip the absolute frame-snap
         # dedupe (done once later on the merged absolute-time set).
         clamp = (0.0, float(window[1] - window[0])) if window is not None else None
-        kept = self._clean_spans(
+        kept = self._clean_spans(kept_raw, record, bounds=clamp, dedupe=window is None)
-            kept_raw, record, bounds=clamp, dedupe=window is None
-        )
         if not kept:
             logger.info(
                 "episode %d: verify pass returned nothing — keeping the %d "
@@ -927,17 +928,13 @@ class PlanSubtasksMemoryModule:
         if not subtask_spans:
             return None
         remaining = [
-            s
+            s for s in subtask_spans if refresh_t is None or float(s.get("start", 0.0)) >= float(refresh_t)
-            for s in subtask_spans
-            if refresh_t is None or float(s.get("start", 0.0)) >= float(refresh_t)
         ]
         if not remaining:
             # Past the last subtask boundary on a late refresh — nothing
             # left to plan; emit None so the caller skips the row.
             return None
-        return "\n".join(
+        return "\n".join(f"{i}. {span.get('text', '').strip()}" for i, span in enumerate(remaining, start=1))
-            f"{i}. {span.get('text', '').strip()}" for i, span in enumerate(remaining, start=1)
-        )
 
     def _generate_memory(
         self,

src/lerobot/annotations/steerable_pipeline/validator.py

@@ -137,9 +137,7 @@ class StagingValidator:
         persistent: list[dict[str, Any]] = []
         for row in all_rows:
             self._check_column_routing(row, report, record.episode_index)
-            self._check_camera_field(
+            self._check_camera_field(row, report, record.episode_index, self.dataset_camera_keys)
-                row, report, record.episode_index, self.dataset_camera_keys
-            )
             if column_for_style(row.get("style")) == LANGUAGE_PERSISTENT:
                 persistent.append(row)
             else:
@@ -166,15 +164,9 @@ class StagingValidator:
         try:
             validate_camera_field(style, camera)
         except ValueError as exc:
-            report.add_error(
+            report.add_error(f"ep={episode_index} module={row.get('_module')}: {exc}")
-                f"ep={episode_index} module={row.get('_module')}: {exc}"
-            )
             return
-        if (
+        if is_view_dependent_style(style) and dataset_camera_keys and camera not in dataset_camera_keys:
-            is_view_dependent_style(style)
-            and dataset_camera_keys
-            and camera not in dataset_camera_keys
-        ):
             report.add_error(
                 f"ep={episode_index} module={row.get('_module')}: camera {camera!r} on style "
                 f"{style!r} is not one of the dataset's video keys {sorted(dataset_camera_keys)!r}"

src/lerobot/scripts/lerobot_annotate.py

@@ -64,9 +64,7 @@ def annotate(cfg: AnnotationPipelineConfig) -> None:
     logger.info("annotate: root=%s", root)
 
     vlm = make_vlm_client(cfg.vlm)
-    frame_provider = make_frame_provider(
+    frame_provider = make_frame_provider(root, camera_key=cfg.vlm.camera_key, video_backend=cfg.video_backend)
-        root, camera_key=cfg.vlm.camera_key, video_backend=cfg.video_backend
-    )
     # Surface the resolved cameras up front so a silent vqa-module no-op
     # is obvious in job output rather than discovered post-hoc by counting
     # parquet rows.
@@ -168,7 +166,10 @@ def _push_to_hub(root: Path, cfg: AnnotationPipelineConfig) -> None:
             if isinstance(ds_version, str) and ds_version.startswith("v"):
                 version_tag = ds_version
         except Exception as exc:  # noqa: BLE001
-            print(f"[lerobot-annotate] could not read codebase_version from info.json ({exc}); falling back to {version_tag}", flush=True)
+            print(
+                f"[lerobot-annotate] could not read codebase_version from info.json ({exc}); falling back to {version_tag}",
+                flush=True,
+            )
     revision = getattr(commit_info, "oid", None)
     tag_kwargs = {
         "repo_id": repo_id,