Merge remote-tracking branch 'origin/main' into feat/language-columns

tests/datasets/test_aggregate.py

@@ -113,7 +113,7 @@ def assert_metadata_consistency(aggr_ds, ds_0, ds_1):
     """Test that metadata is correctly aggregated."""
     # Test basic info
     assert aggr_ds.fps == ds_0.fps == ds_1.fps, "FPS should be the same across all datasets"
-    assert aggr_ds.meta.info["robot_type"] == ds_0.meta.info["robot_type"] == ds_1.meta.info["robot_type"], (
+    assert aggr_ds.meta.info.robot_type == ds_0.meta.info.robot_type == ds_1.meta.info.robot_type, (
         "Robot type should be the same"
     )
 
@@ -153,8 +153,8 @@ def assert_video_frames_integrity(aggr_ds, ds_0, ds_1):
 
     video_keys = list(
         filter(
-            lambda key: aggr_ds.meta.info["features"][key]["dtype"] == "video",
-            aggr_ds.meta.info["features"].keys(),
+            lambda key: aggr_ds.meta.info.features[key]["dtype"] == "video",
+            aggr_ds.meta.info.features.keys(),
         )
     )
 

tests/datasets/test_dataset_metadata.py

@@ -161,7 +161,7 @@ def test_init_loads_existing_metadata(tmp_path, lerobot_dataset_metadata_factory
 
     assert meta.total_episodes == 3
     assert meta.total_frames == 150
-    assert meta.fps == info["fps"]
+    assert meta.fps == info.fps
 
 
 # ── Property accessors ───────────────────────────────────────────────

tests/datasets/test_language_render.py

@@ -1,7 +1,5 @@
 #!/usr/bin/env python
 
-from pathlib import Path
-
 import pytest
 
 from lerobot.configs.recipe import MessageTurn, TrainingRecipe
@@ -370,9 +368,27 @@ def test_resolve_task_explicit_override_beats_rephrasings():
     assert rendered["messages"][0]["content"] == "explicit override wins"
 
 
-def test_canonical_recipe_can_render_low_level_branch():
-    recipe = TrainingRecipe.from_yaml(Path("src/lerobot/configs/recipes/pi05_hirobot.yaml"))
-    low_level = TrainingRecipe(blend={"low": recipe.blend["low_level_execution"]})
+def test_low_level_branch_renders_active_subtask():
+    low_level = TrainingRecipe(
+        blend={
+            "low": TrainingRecipe(
+                weight=1.0,
+                messages=[
+                    MessageTurn(
+                        role="user",
+                        content="${task}\nPlan: ${plan}\nMemory: ${memory}",
+                        stream="high_level",
+                    ),
+                    MessageTurn(
+                        role="assistant",
+                        content="${subtask}",
+                        stream="low_level",
+                        target=True,
+                    ),
+                ],
+            )
+        }
+    )
 
     rendered = render_sample(
         recipe=low_level,

tests/datasets/test_lerobot_dataset.py

@@ -80,18 +80,18 @@ def _write_dataset_tree(
     )
     tasks = tasks_factory(total_tasks=1)
     episodes = episodes_factory(
-        features=info["features"],
-        fps=info["fps"],
+        features=info.features,
+        fps=info.fps,
         total_episodes=1,
         total_frames=3,
         tasks=tasks,
     )
-    stats = stats_factory(features=info["features"])
+    stats = stats_factory(features=info.features)
     hf_dataset = hf_dataset_factory(
-        features=info["features"],
+        features=info.features,
         tasks=tasks,
         episodes=episodes,
-        fps=info["fps"],
+        fps=info.fps,
     )
 
     create_info(root, info)
@@ -416,6 +416,18 @@ def test_create_initial_counts_zero(tmp_path):
     assert dataset.num_frames == 0
 
 
+def test_create_propagates_video_files_size_in_mb(tmp_path):
+    """video_files_size_in_mb passed to create() is reflected in the dataset metadata."""
+    dataset = LeRobotDataset.create(
+        repo_id=DUMMY_REPO_ID,
+        fps=DEFAULT_FPS,
+        features=SIMPLE_FEATURES,
+        root=tmp_path / "ds",
+        video_files_size_in_mb=42.0,
+    )
+    assert dataset.meta.video_files_size_in_mb == 42.0
+
+
 def test_add_frame_works_in_write_mode(tmp_path):
     """add_frame() succeeds on a dataset created via create()."""
     dataset = LeRobotDataset.create(