**Critical: video_for_episode was unreachable dead code.**
``video_for_episode`` was indented inside ``_decode_pyav_direct``, after
its ``return`` statement — Python parsed it as a nested function that
never executed. Module 1's ``_episode_video_block`` calls
``self.frame_provider.video_for_episode(record, target_count)`` on the
``use_video_url=False`` path, which would have AttributeError'd on any
real dataset. Tests passed only because they used ``_StubFrameProvider``
/ ``_NullProvider`` which have the method. Moved it to be a proper
method of ``VideoFrameProvider`` (right after ``frames_at``).
**Thread safety on VideoFrameProvider.**
The executor runs Module 1/2/3 phases under a ``ThreadPoolExecutor``, so
the per-instance ``_cache`` dict and the one-shot ``_warned_decode_fail``
flag were exposed to concurrent reads/writes. Added a ``threading.Lock``
field, wrapped cache reads/writes and the warn-flag check-and-set in
``with self._lock:``. Stub fixtures unaffected.
**episode_clip_path is now a method of VideoFrameProvider.**
Used to be a free function reaching into ``provider._meta.episodes`` and
``provider._meta.get_video_file_path`` from outside the class. As a
method it just uses ``self._meta``. The only caller (Module 1) updated;
no external callers.
**Atomic write in LanguageColumnsWriter.**
``pq.write_table(new_table, path)`` was overwriting the parquet shard
in place — a crash mid-write would corrupt the file. Now writes to a
sibling ``.tmp`` and ``Path.replace`` atomically.
**Smaller items:**
* ``executor.py`` docstring opened with "four phases" but listed six.
Now says "six phases" to match.
* ``[annotations]`` extra in ``pyproject.toml`` now includes
``openai>=1.40,<2.0``. Default ``VlmConfig.backend`` is ``"openai"``,
so without it ``_make_openai_client`` would ImportError on a fresh
``uv sync --extra annotations``.
* ``_snap_to_frame`` was duplicated identically in
``plan_subtasks_memory.py`` and ``interjections_and_speech.py``.
Promoted to ``snap_to_frame`` in ``reader.py`` (next to
``EpisodeRecord``); both modules now import it. Backwards-compat alias
not needed — no external callers.
* ``EpisodeRecord.frames_df()`` was re-reading the full parquet on every
call. Now memoizes via a private dataclass field so repeat calls from
different modules pay the cost once. Method signature unchanged.
* ``_extract_first_json_object`` had a redundant ``and not escape`` guard
that was dead because the prior block already handled and reset
``escape``. Replaced with a comment explaining the invariant.
**Pre-existing lint cleanups surfaced once these files entered
pre-commit's scope:**
* dead local ``client = clients[0]`` in ``_make_openai_client`` (the
real round-robin uses ``clients[rr_counter[...]]``).
* ``cmd = ... if "{port}" in cmd else f"...{port}"`` ternary collapse in
``_spawn_parallel_inference_servers``.
* ``seek_pts = 0 if stream.time_base is None else int(...)`` ternary
collapse in ``_decode_pyav_direct``.
* ``# nosec B310`` on the localhost ``urllib.request.urlopen`` probe in
``_server_is_up`` — the URL is the user-configured local-server endpoint
the CLI itself spawned, not arbitrary user input.
**Test added.**
``tests/annotations/test_frames.py`` pins the regression on
``VideoFrameProvider``: asserts ``video_for_episode`` and
``episode_clip_path`` are callable methods (not nested dead code or
free functions), and that the ``_lock`` field is a real
``threading.Lock``.
Sweep: 64 passed, 2 failed (same pre-existing module-impl bugs as
before this commit). Pre-commit clean.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Resolve conflicts and pull in the latest PR 1 fixes.
Conflicts:
- pyproject.toml: PR 1 added `lerobot-rollout` and PR 2 added
`lerobot-annotate` to the same `[project.scripts]` block. Kept both.
- uv.lock: dropped both sides and regenerated against the merged
`pyproject.toml` (PR 2 dropped the `datatrove` dep when distribution
moved to HF Jobs; PR 1's lock didn't have it).
Test follow-up:
- `tests/annotations/test_pipeline_recipe_render.py` — PR 1 deleted
`src/lerobot/configs/recipes/pi05_hirobot.yaml` (review feedback:
remove the canonical-recipe file; recipes are user-supplied). The
cross-PR contract this test guards is "the recipe DSL renders
non-empty messages from pipeline output", which doesn't depend on
any specific YAML, so the test now builds an inline blend recipe
with the same coverage. Passes.
Sweep: 82 passed, 2 failed (pre-existing module-impl bugs:
`test_module1_attaches_video_block_to_subtask_prompt`,
`test_module2_mid_episode_emits_paired_interjection_and_speech`).
The PR 1 carryover (`test_emitted_at_raises_on_ambiguous_per_camera_vqa`)
is now passing — the merge brought in PR 1's tightened `_select_one`
ambiguity check.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The executor previously claimed it would "optionally hand off" to
datatrove's LocalPipelineExecutor or SlurmPipelineExecutor — but it
already runs phases inline in every code path, and HF Jobs (see
``examples/annotation/run_hf_job.py``) is the actual distribution
strategy. Stop pretending we have an executor selector.
* `executor.py`: drop `select_executor_class`, the "kind" log line, and
the references to LocalPipelineExecutor / SlurmPipelineExecutor.
Module docstring now says distribution is delegated to HF Jobs.
* `config.py`: drop `auto_threshold`, `force_local`, `slurm_partition`,
`slurm_gpus`, `slurm_time`, `workers`. `ExecutorConfig` keeps only
`episode_parallelism`. While here, prune the longer "why" docstrings
on every field down to the load-bearing bits — full story moves to
`docs/source/annotation_pipeline.mdx`.
* `pyproject.toml`: drop `datatrove>=0.4.0,<2.0.0` from the
`[annotations]` extra; the dep was only there for the (never used)
cluster executors. Comment block notes the new HF-Jobs delegation.
* `reader.py`, `lerobot_annotate.py`: drop their own datatrove /
flavor-namespace mentions.
* `docs/source/annotation_pipeline.mdx`:
- remove the flavor-namespace / sidecar paragraph (out of scope —
"multiple revisions = multiple copies" is dataset-level policy);
- remove the "writer drops the legacy `subtask_index` column" note
(already covered by PR 1's intentional-break call-out);
- remove the chat-template + `apply_chat_template(messages, tools=...)`
line (covered by Tools doc);
- replace the "executor picks Local vs Slurm" paragraph with
`--executor.episode_parallelism` and a pointer to HF Jobs;
- rewrite the style→recipe section to talk about "recipes" generically
instead of pinning a specific YAML;
- add a "Running on Hugging Face Jobs" section pointing at
`examples/annotation/run_hf_job.py`;
- add a "Running locally" example matching the CLI's docstring
(`uv run lerobot-annotate --root=... --vlm.model_id=...`);
- extend the paper-inspirations list with Pi0.7 and Steerable VLA
Policies (Zhao 2025) for Module 3.
Tests: same 3 pre-existing failures as before this commit (2 module
assertions still in flight; 1 carryover from PR 1). 41/44 pass.
Pre-commit clean.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* feat(policies): add EO-1 model
* chore(eo1): adjust policy_eo1_README.md to to avoid duplicate with eo1.mdx
* chore(eo1): remove policy_eo1_README.md, link eo1.mdx in policy folder
---------
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
* `ruff format` on CI (newer version) wants the short `camera=None`
ValueError on a single line.
* `uv.lock` was stale relative to `pyproject.toml`'s `datasets>=4.7.0`
pin (and picked up upstream `s390x` marker fixes for cuda packages).
CI runs `uv sync --locked` which rejected the divergence.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Covers private helpers in recipe.py, language.py, language_render.py,
and render_messages_processor.py. Also reverts uv.lock to main (it was
re-generated by `uv run` during local checks).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* feat(ci): add uv.lock
* feat(ci): use uv.lock in CI PR testing
* chore(ci): rename nightly to docker publish and test
* feat(ci): automated update of uv.lock + remove unbound check + docker images now use uv.lock
* fix(ci): add --force-with-lease + set -e for silent erros
Pepijn