refactor(annotate): plan = summary of still-todo subtasks, drop VLM call

The plan was being generated by a separate VLM call (one per
episode + one per interjection refresh) with a prompt that asked
the model to "compress the subtasks into a compact hierarchical
plan". In practice the plans came out longer than necessary and
sometimes drifted from the actual subtask sequence the runtime
would execute.

Replaced ``_generate_plan`` with a deterministic numbered list
of the upcoming subtasks. At a refresh time the list shrinks to
subtasks whose start ≥ refresh_t — the plan describes what's
*left* to do, so it gets shorter as work progresses.

Saves the per-episode + per-interjection VLM round-trip in the
annotation pipeline and keeps train-time plan text bit-aligned
with the subtask annotations the rest of Module 1 emits.

Removed the now-unused ``prompts/module_1_plan.txt``.

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

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

@@ -372,54 +372,50 @@ class PlanSubtasksMemoryModule:
 
     def _generate_plan(
         self,
-        record: EpisodeRecord,
+        record: EpisodeRecord,  # noqa: ARG002  (kept for signature stability)
         subtask_spans: Sequence[dict[str, Any]],
         *,
         refresh_t: float | None = None,
-        interjection: str | None = None,
+        interjection: str | None = None,  # noqa: ARG002
-        task: str | None = None,
+        task: str | None = None,  # noqa: ARG002
     ) -> str | None:
+        """Deterministic plan = numbered list of *still-todo* subtasks.
+
+        Previously this called the VLM with a prompt that asked it to
+        compress the subtasks into a "compact hierarchical plan". That
+        produced longer-than-necessary plans, cost an extra VLM round-trip
+        per episode (plus one per interjection on refresh), and could
+        diverge from the actual subtask sequence the model is going to
+        execute. Replacing it with a plain summarisation keeps the plan
+        tightly aligned with the upcoming subtasks and removes the VLM
+        call entirely.
+
+        Layout (matches the v2 plan style — short imperative fragments
+        prefixed by "N. "):
+
+            1. <subtask 1>
+            2. <subtask 2>
+            ...
+
+        On a refresh at ``refresh_t`` (called from ``run_plan_updates``
+        on interjection events), only subtasks whose start is at or
+        after ``refresh_t`` are included — the plan shrinks as work
+        progresses, so it always describes what's left.
+        """
         if not subtask_spans:
             return None
-        subtasks_text = "\n".join(f"- {s['text']}" for s in subtask_spans)
+        remaining = [
-        prompt = load_prompt("module_1_plan").format(
+            s for s in subtask_spans
-            episode_task=(task if task is not None else record.episode_task),
+            if refresh_t is None or float(s.get("start", 0.0)) >= float(refresh_t)
-            subtasks_text=subtasks_text,
+        ]
-            plan_max_steps=self.config.plan_max_steps,
+        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(
+            f"{i}. {span.get('text', '').strip()}"
+            for i, span in enumerate(remaining, start=1)
         )
-        if refresh_t is not None:
-            # ``current_subtask`` is the span the refresh time falls into,
-            # so the model knows where in the demonstration the planner is
-            # standing when it re-emits.
-            current_subtask = ""
-            for span in subtask_spans:
-                if float(span["start"]) <= refresh_t and (
-                    "end" not in span or float(span["end"]) > refresh_t
-                ):
-                    current_subtask = span.get("text", "")
-                    break
-            if interjection:
-                prompt += (
-                    f"\n\n(Plan refresh at t={refresh_t:.2f}s after a user "
-                    f"interjection: {interjection!r}. Current subtask just "
-                    f"before the interjection: {current_subtask!r}. Update "
-                    f"the plan so it reflects the interjection — drop or "
-                    f"reorder steps as needed; do not just restate.)\n"
-                )
-            else:
-                # Refresh without an interjection text: still tell the model
-                # where in the episode the plan stands so the re-emission
-                # is grounded. Should be rare — plan refreshes are
-                # interjection-driven by design.
-                prompt += (
-                    f"\n\n(Plan refresh at t={refresh_t:.2f}s. Current "
-                    f"subtask: {current_subtask!r}.)\n"
-                )
-        messages = [{"role": "user", "content": [{"type": "text", "text": prompt}]}]
-        result = self.vlm.generate_json([messages])[0]
-        if isinstance(result, dict) and isinstance(result.get("plan"), str):
-            return result["plan"].strip()
-        return None
 
     def _generate_memory(
         self,

src/lerobot/annotations/steerable_pipeline/prompts/module_1_plan.txt

@@ -1,18 +0,0 @@
-You are the high-level planner for a robot demonstrating: "{episode_task}".
-
-Given the subtask decomposition below, write a compact hierarchical PLAN.
-Use short imperative fragments, like pi0.7 context prompts.
-
-Subtasks for context:
-{subtasks_text}
-
-Authoring rules:
-- 3 to {plan_max_steps} steps.
-- Each step is one logical chunk, not one motion.
-- Steps must be in execution order.
-- Brief commands, not full sentences.
-- Prefer: "open air fryer"; avoid: "The robot should open the air fryer."
-- Plain text, no markdown headers.
-
-Output strictly valid JSON:
-  {{ "plan": "1. ...\n2. ...\n3. ..." }}