refactor(g05): use recipe message dropout

tests/configs/test_recipe.py

@@ -47,6 +47,17 @@ def test_message_turn_requires_a_stream():
         MessageTurn(role="user", content="${task}")
 
 
+@pytest.mark.parametrize("dropout", [-0.1, 1.1, float("inf"), float("nan")])
+def test_message_turn_rejects_invalid_dropout(dropout):
+    with pytest.raises(ValueError, match="between 0 and 1"):
+        MessageTurn(role="user", content="${task}", stream="high_level", dropout=dropout)
+
+
+def test_message_turn_rejects_non_numeric_dropout():
+    with pytest.raises(TypeError, match="probability"):
+        MessageTurn(role="user", content="${task}", stream="high_level", dropout="half")
+
+
 def test_message_recipe_requires_at_least_one_target():
     with pytest.raises(ValueError, match="target"):
         TrainingRecipe(
@@ -152,33 +163,25 @@ def test_from_dict_with_nested_blend():
     assert isinstance(recipe.blend["a"].messages[0], MessageTurn)
 
 
-def test_applicable_blend_round_trips_from_dict():
+def test_message_dropout_round_trips_from_dict():
     recipe = TrainingRecipe.from_dict(
         {
-            "select_from_applicable": True,
-            "blend": {
-                "subtask": {
-                    "weight": 2,
-                    "requires": ["subtask"],
-                    "messages": [
-                        {
-                            "role": "assistant",
-                            "content": "${subtask}",
-                            "stream": "low_level",
-                            "target": True,
-                        }
-                    ],
+            "messages": [
+                {"role": "user", "content": "${task}", "stream": "low_level"},
+                {
+                    "role": "assistant",
+                    "content": "${subtask}",
+                    "stream": "low_level",
+                    "target": True,
+                    "if_present": "subtask",
+                    "dropout": 0.5,
                 },
-                "action": {
-                    "weight": 1,
-                    "messages": [{"role": "user", "content": "${task}", "stream": "low_level"}],
-                },
-            },
+            ]
         }
     )
 
-    assert recipe.select_from_applicable
-    assert recipe.blend["subtask"].requires == ["subtask"]
+    assert recipe.messages[1].dropout == 0.5
+    assert recipe.messages[1].if_present == "subtask"
 
 
 def test_from_yaml_round_trips_through_load_recipe(tmp_path: Path):

tests/datasets/test_language_render.py

@@ -176,27 +176,19 @@ def test_deterministic_blend_sampling():
     assert first == second
 
 
-def test_applicable_blend_filters_missing_bindings_before_weighted_selection():
+def test_message_dropout_skips_missing_optional_bindings():
     recipe = TrainingRecipe(
-        select_from_applicable=True,
-        blend={
-            "missing": TrainingRecipe(
-                weight=1_000,
-                requires=["subtask"],
-                messages=[
-                    MessageTurn(
-                        role="assistant",
-                        content="${subtask}",
-                        stream="low_level",
-                        target=True,
-                    )
-                ],
+        messages=[
+            MessageTurn(role="user", content="${task}", stream="low_level"),
+            MessageTurn(
+                role="assistant",
+                content="${subtask}",
+                stream="low_level",
+                target=True,
+                if_present="subtask",
+                dropout=0.5,
             ),
-            "action": TrainingRecipe(
-                weight=1,
-                messages=[MessageTurn(role="user", content="${task}", stream="low_level")],
-            ),
-        },
+        ]
     )
 
     rendered = render_sample(
@@ -212,7 +204,7 @@ def test_applicable_blend_filters_missing_bindings_before_weighted_selection():
     assert rendered["target_message_indices"] == []
 
 
-def test_applicable_blend_can_select_joint_bbox_subtask_target():
+def test_g05_dropout_produces_all_bbox_subtask_combinations():
     recipe = TrainingRecipe.from_yaml("src/lerobot/configs/recipes/g05_bbox_subtask.yaml")
     persistent = [persistent_row("assistant", "grasp the cup", "subtask", 0.0)]
     events = [
@@ -224,24 +216,64 @@ def test_applicable_blend_can_select_joint_bbox_subtask_target():
         }
     ]
 
-    rendered = next(
-        candidate
-        for sample_idx in range(100)
-        if (
-            candidate := render_sample(
-                recipe=recipe,
-                persistent=persistent,
-                events=events,
-                t=0.0,
-                sample_idx=sample_idx,
-                task="pick the cup",
-            )
+    rendered_by_targets = {}
+    for sample_idx in range(100):
+        rendered = render_sample(
+            recipe=recipe,
+            persistent=persistent,
+            events=events,
+            t=0.0,
+            sample_idx=sample_idx,
+            task="pick the cup",
         )
-        and candidate["target_message_indices"] == [1, 2]
+        targets = tuple(
+            rendered["messages"][idx]["content"].split(":", 1)[0]
+            for idx in rendered["target_message_indices"]
+        )
+        rendered_by_targets.setdefault(targets, rendered)
+
+    assert set(rendered_by_targets) == {
+        (),
+        ("BBoxJSON",),
+        ("Subtask",),
+        ("BBoxJSON", "Subtask"),
+    }
+    joint = rendered_by_targets[("BBoxJSON", "Subtask")]
+    assert joint["messages"][1]["content"].startswith("BBoxJSON:")
+    assert joint["messages"][2]["content"] == "Subtask: grasp the cup"
+
+
+def test_message_dropout_is_deterministic_for_sample_index():
+    recipe = TrainingRecipe(
+        messages=[
+            MessageTurn(role="user", content="${task}", stream="low_level"),
+            MessageTurn(
+                role="assistant",
+                content="${subtask}",
+                stream="low_level",
+                target=True,
+                dropout=0.5,
+            ),
+        ]
     )
 
-    assert rendered["messages"][1]["content"].startswith("BBoxJSON:")
-    assert rendered["messages"][2]["content"] == "Subtask: grasp the cup"
+    first = render_sample(
+        recipe=recipe,
+        persistent=PERSISTENT,
+        events=[],
+        t=0.0,
+        sample_idx=42,
+        task="pick the cup",
+    )
+    second = render_sample(
+        recipe=recipe,
+        persistent=PERSISTENT,
+        events=[],
+        t=0.0,
+        sample_idx=42,
+        task="pick the cup",
+    )
+    assert first == second
 
 
 def test_emitted_at_filters_vqa_by_camera():