refactor(g05): keep recipe runtime unchanged

docs/source/g05.mdx

@@ -149,10 +149,9 @@ lerobot-train \
 
 The bundled `g05_bbox_subtask.yaml` recipe resolves the active
 `language_persistent` `subtask` and camera-scoped grounded `vqa` event at each
-sample timestamp. It applies independent `0.5` dropout to the optional BBox and
-Subtask targets, producing Action-only, Subtask+Action, BBox+Action, and joint
-BBox+Subtask+Action samples. An unavailable annotation is skipped before
-dropout through the recipe's `if_present` guard.
+sample timestamp. It emits each optional BBox or Subtask target when that
+annotation is present; unavailable annotations are skipped through the recipe's
+existing `if_present` guard.
 
 Grounded VQA boxes are converted from pixel-space `xyxy` JSON using the source
 camera dimensions captured before image resizing, then serialized as G0.5

docs/source/language_and_recipes.mdx

@@ -146,24 +146,6 @@ The renderer does not apply a tokenizer chat template. Policy processors decide
 Blend recipes select one weighted sub-recipe deterministically from the sample index.
 `recipes/subtask_mem.yaml` trains the compact core blend — high-level subtask prediction, low-level execution, and memory. `recipes/subtask_mem_vqa_speech.yaml` is the fuller variant that also adds VQA and spoken interjection responses.
 
-Message turns can set `dropout` to a probability between `0` and `1`. Dropout is
-deterministic for a given sample index and independent between turns. Combine it
-with `if_present` to sample optional supervision formats while gracefully
-skipping annotations that are unavailable:
-
-```yaml
-messages:
-  - { role: user, content: "${task}", stream: low_level }
-  - {
-      role: assistant,
-      content: "${subtask}",
-      stream: low_level,
-      target: true,
-      if_present: subtask,
-      dropout: 0.5,
-    }
-```
-
 A message recipe with a supervised assistant turn on the `low_level` stream trains
 the π0.5 paper's joint sequence instead of a blend: the target span gets text CE
 while also conditioning the action losses in the same forward.

src/lerobot/configs/recipe.py

@@ -18,7 +18,6 @@ from __future__ import annotations
 
 import re
 from dataclasses import dataclass
-from math import isfinite
 from pathlib import Path
 from typing import Any, Literal, get_args
 
@@ -50,9 +49,8 @@ class MessageTurn:
     ``content`` may be a plain string, a list of HF-style multimodal blocks, or
     ``None`` when ``tool_calls_from`` supplies tool-call payloads instead.
     ``stream`` tags the turn for downstream filtering, ``target`` flags it as a
-    training target, ``if_present`` skips the turn when the named binding
-    resolves to ``None``, and ``dropout`` independently omits it for a
-    deterministic fraction of samples.
+    training target, and ``if_present`` skips the turn when the named binding
+    resolves to ``None``.
     """
 
     role: MessageRole
@@ -61,7 +59,6 @@ class MessageTurn:
     target: bool = False
     if_present: str | None = None
     tool_calls_from: str | None = None
-    dropout: float = 0.0
 
     def __post_init__(self) -> None:
         """Validate role, stream, and content after dataclass construction."""
@@ -89,11 +86,6 @@ class MessageTurn:
                     raise ValueError(
                         "Multimodal content blocks must be HF-style dictionaries with a type key."
                     )
-        if isinstance(self.dropout, bool) or not isinstance(self.dropout, int | float):
-            raise TypeError("MessageTurn.dropout must be a probability.")
-        self.dropout = float(self.dropout)
-        if not isfinite(self.dropout) or not 0.0 <= self.dropout <= 1.0:
-            raise ValueError("MessageTurn.dropout must be between 0 and 1.")
 
     @classmethod
     def from_dict(cls, data: dict[str, Any]) -> MessageTurn:

src/lerobot/configs/recipes/g05_bbox_subtask.yaml

@@ -1,9 +1,6 @@
 # G0.5 CoT supervision from the signals LeRobot can currently provide:
 # active subtasks and camera-grounded bounding boxes.
-#
-# BBox and Subtask turns are dropped independently and deterministically. This
-# produces Action-only, BBox+Action, Subtask+Action, and
-# BBox+Subtask+Action samples without a policy-specific recipe selector.
+# Each target is emitted when its corresponding annotation is present.
 
 bindings:
   bbox: "emitted_at(t, style=vqa, role=assistant, camera=observation.images.exterior)"
@@ -16,7 +13,6 @@ messages:
       stream: low_level,
       target: true,
       if_present: bbox,
-      dropout: 0.5,
     }
   - {
       role: assistant,
@@ -24,5 +20,4 @@ messages:
       stream: low_level,
       target: true,
       if_present: subtask,
-      dropout: 0.5,
     }

src/lerobot/datasets/language_render.py

@@ -194,7 +194,7 @@ def render_sample(
         task=task,
         dataset_ctx=dataset_ctx,
     )
-    return _render_message_recipe(selected_recipe, bindings, sample_idx=sample_idx)
+    return _render_message_recipe(selected_recipe, bindings)
 
 
 def _render_vqa_if_present(
@@ -225,7 +225,7 @@ def _render_vqa_if_present(
             task=task,
             dataset_ctx=dataset_ctx,
         )
-        rendered = _render_message_recipe(component, bindings, sample_idx=sample_idx)
+        rendered = _render_message_recipe(component, bindings)
         if rendered is not None:
             renderable.append((float(component.weight or 0.0), rendered))
 
@@ -382,8 +382,6 @@ def _parse_resolver_args(args: str) -> dict[str, Any]:
 def _render_message_recipe(
     recipe: TrainingRecipe,
     bindings: dict[str, LanguageRow | str | None],
-    *,
-    sample_idx: int,
 ) -> RenderedMessages | None:
     """Expand ``recipe.messages`` into rendered chat messages using ``bindings``."""
     assert recipe.messages is not None
@@ -393,11 +391,9 @@ def _render_message_recipe(
     streams: list[str | None] = []
     target_indices: list[int] = []
 
-    for turn_idx, turn in enumerate(recipe.messages):
+    for turn in recipe.messages:
         if turn.if_present is not None and bindings.get(turn.if_present) is None:
             continue
-        if _drop_message_turn(turn.dropout, sample_idx=sample_idx, turn_idx=turn_idx):
-            continue
 
         message = {"role": turn.role}
         if turn.content is not None:
@@ -429,21 +425,6 @@ def _render_message_recipe(
     return rendered
 
 
-def _drop_message_turn(dropout: float, *, sample_idx: int, turn_idx: int) -> bool:
-    """Apply reproducible, independent dropout to one recipe message."""
-
-    if dropout <= 0.0:
-        return False
-    if dropout >= 1.0:
-        return True
-    digest = hashlib.blake2b(
-        f"message_dropout:{sample_idx}:{turn_idx}".encode(),
-        digest_size=8,
-    ).digest()
-    draw = int.from_bytes(digest, "big") / 2**64
-    return draw < dropout
-
-
 def _render_content(
     content: str | list[dict[str, Any]],
     bindings: dict[str, LanguageRow | str | None],

tests/configs/test_recipe.py

@@ -47,17 +47,6 @@ 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(
@@ -163,7 +152,7 @@ def test_from_dict_with_nested_blend():
     assert isinstance(recipe.blend["a"].messages[0], MessageTurn)
 
 
-def test_message_dropout_round_trips_from_dict():
+def test_message_if_present_round_trips_from_dict():
     recipe = TrainingRecipe.from_dict(
         {
             "messages": [
@@ -174,13 +163,11 @@ def test_message_dropout_round_trips_from_dict():
                     "stream": "low_level",
                     "target": True,
                     "if_present": "subtask",
-                    "dropout": 0.5,
                 },
             ]
         }
     )
 
-    assert recipe.messages[1].dropout == 0.5
     assert recipe.messages[1].if_present == "subtask"
 
 

tests/datasets/test_language_render.py

@@ -176,35 +176,7 @@ def test_deterministic_blend_sampling():
     assert first == second
 
 
-def test_message_dropout_skips_missing_optional_bindings():
-    recipe = TrainingRecipe(
-        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,
-            ),
-        ]
-    )
-
-    rendered = render_sample(
-        recipe=recipe,
-        persistent=[],
-        events=[],
-        t=0.0,
-        sample_idx=0,
-        task="pick the cup",
-    )
-
-    assert rendered["messages"] == [{"role": "user", "content": "pick the cup"}]
-    assert rendered["target_message_indices"] == []
-
-
-def test_g05_dropout_produces_all_bbox_subtask_combinations():
+def test_g05_recipe_emits_available_bbox_and_subtask():
     recipe = TrainingRecipe.from_yaml("src/lerobot/configs/recipes/g05_bbox_subtask.yaml")
     persistent = [persistent_row("assistant", "grasp the cup", "subtask", 0.0)]
     events = [
@@ -216,64 +188,18 @@ def test_g05_dropout_produces_all_bbox_subtask_combinations():
         }
     ]
 
-    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",
-        )
-        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,
-            ),
-        ]
-    )
-
-    first = render_sample(
+    rendered = render_sample(
         recipe=recipe,
-        persistent=PERSISTENT,
-        events=[],
+        persistent=persistent,
+        events=events,
         t=0.0,
-        sample_idx=42,
+        sample_idx=0,
         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
+
+    assert rendered["target_message_indices"] == [1, 2]
+    assert rendered["messages"][1]["content"].startswith("BBoxJSON:")
+    assert rendered["messages"][2]["content"] == "Subtask: grasp the cup"
 
 
 def test_emitted_at_filters_vqa_by_camera():