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feat(smolvla2-runtime): 'rephrase:' prefix to swap task string in place

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Adds a third stdin channel alongside 'task:' and bare interjections:

  rephrase: <text>

Swaps state['task'] with the new string while preserving plan/memory/
subtask. Lets the operator probe how robust the model is to wording
variations of the same task — the trained augmentation provided
n_task_rephrasings≈30 task wordings per dataset task, and this is the
direct way to exercise that distribution at inference without
generating a fresh plan via user_interjection_response.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-05-12 17:26:59 +02:00
parent d528078aca
commit c98c695127
1 changed files with 25 additions and 3 deletions
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src/lerobot/scripts/lerobot_smolvla2_runtime.py
+25 -3
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@@ -785,17 +785,32 @@ def _run_autonomous(
# Typing a rephrasing of the current task as an # Typing a rephrasing of the current task as an
# interjection is the trained way to redirect without # interjection is the trained way to redirect without
# resetting the high-level plan from scratch. # resetting the high-level plan from scratch.
# ``task: <text>`` — full task switch, clears plan/memory/subtask
# ``rephrase: <text>`` — swap the task string in place,
# keep plan/memory/subtask. Tests
# prompt robustness from the
# n_task_rephrasings training
# augmentation: the model should
# behave the same on equivalent
# phrasings of the same task.
# bare line ending in ``?`` — VQA
# bare line — interjection
if lower.startswith("task:"): if lower.startswith("task:"):
new_task = line[5:].strip() new_task = line[5:].strip()
if new_task: if new_task:
runtime.set_task(new_task) runtime.set_task(new_task)
# Clear stale plan/memory/subtask so the next
# high-level pass regenerates from the new task
# rather than carrying over context from the old.
runtime.state["current_plan"] = None runtime.state["current_plan"] = None
runtime.state["current_memory"] = None runtime.state["current_memory"] = None
runtime.state["current_subtask"] = None runtime.state["current_subtask"] = None
continue continue
if lower.startswith("rephrase:"):
rephrased = line[len("rephrase:"):].strip()
if rephrased:
runtime.state["task"] = rephrased
runtime.state.setdefault("log_lines", []).append(
f"Task rephrased: {rephrased} (plan/memory preserved)"
)
continue
if not runtime.state.get("task"): if not runtime.state.get("task"):
runtime.set_task(line) runtime.set_task(line)
continue continue
@@ -1110,6 +1125,13 @@ def _run_repl(runtime: Any, *, initial_task: str | None, max_ticks: int | None)
runtime.state["current_plan"] = None runtime.state["current_plan"] = None
runtime.state["current_memory"] = None runtime.state["current_memory"] = None
runtime.state["current_subtask"] = None runtime.state["current_subtask"] = None
elif lower.startswith("rephrase:"):
rephrased = line[len("rephrase:"):].strip()
if rephrased:
runtime.state["task"] = rephrased
runtime.state.setdefault("log_lines", []).append(
f"Task rephrased: {rephrased} (plan/memory preserved)"
)
elif not runtime.state.get("task"): elif not runtime.state.get("task"):
runtime.set_task(line) runtime.set_task(line)
elif lower.endswith("?"): elif lower.endswith("?"):