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fix(language): address review — tools accessor, motion docs, conditional collate

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* **`meta.tools` actually reads `info.json["tools"]`.** `DatasetInfo`
  had no `tools` field, so `from_dict` silently dropped the key (it
  warned about unknown fields then discarded them) and the property
  always returned `DEFAULT_TOOLS`. Added `tools: list[dict] | None`
  to the dataclass; `to_dict()` drops it when unset so existing
  datasets keep a clean `info.json`. Fixed the accessor to read
  `self.info.tools` (the previous `.get(...)` would have raised
  AttributeError on the dataclass anyway). Added regression tests:
  fallback when absent, round-trip from disk, and round-trip
  through `DatasetInfo.from_dict` / `to_dict`.

* **`motion` is not view-dependent — fix the docs.** The mdx claimed
  rows of style `motion` must carry `camera`, but `VIEW_DEPENDENT_STYLES
  = {"vqa", "trace"}` and the validator agrees: motion primitives are
  joint/Cartesian-frame, not pixel-space. Updated both call-out
  paragraphs in `language_and_recipes.mdx`.

* **Conditional `collate_fn` swap.** Added `meta.has_language_columns`
  and gate the `lerobot_collate_fn` swap in `lerobot_train.py` on it,
  so non-language datasets keep PyTorch's `default_collate`. Also
  added a pass-through test in `test_collate.py` that asserts on a
  plain tensor batch the custom collate matches `default_collate`
  key-for-key, plus a test for the `None`-sample drop path.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Pepijn
2026-05-06 14:51:06 +02:00
parent 24d2ffe3c6
commit d55b581ca1
6 changed files with 156 additions and 8 deletions
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docs/source/language_and_recipes.mdx
+6 -5
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@@ -46,10 +46,11 @@ tool_calls: list[Json] | null
```
The `camera` field tags rows whose `content` is grounded in a specific camera
view. Rows of view-dependent styles (`vqa`, and the reserved `motion` /
`trace`) MUST set `camera` to the matching `observation.images.*` feature key.
Rows of every other style MUST leave `camera` as `null`. Pipeline writers and
the validator enforce this via `validate_camera_field(style, camera)`.
view. Rows of view-dependent styles (`vqa` and `trace`) MUST set `camera` to
the matching `observation.images.*` feature key. Rows of every other style —
including `motion`, which describes robot-frame primitives in joint / Cartesian
terms — MUST leave `camera` as `null`. Pipeline writers and the validator
enforce this via `validate_camera_field(style, camera)`.
`meta/tasks.parquet` remains the canonical source for the task. The special `${task}` recipe binding always reads that task string and does not depend on language annotations.
@@ -81,7 +82,7 @@ Exact event matching has no tolerance window, so writers must stamp event rows w
### View-dependent resolution
For view-dependent styles (`vqa`, `motion`, `trace`), the resolver gains a
For view-dependent styles (`vqa` and `trace`), the resolver gains a
`camera=` filter parallel to `role=` and `tool_name=`. Datasets with multiple
cameras typically emit one (`vqa`, `user`) + (`vqa`, `assistant`) pair per
camera at the same timestamp; without `camera=`, those resolvers see two