2 Commits

Author	SHA1	Message	Date
Pepijn	171e06c6ba	refactor(runtime): make language runtime policy-agnostic; drop VQA viz ... Set up the runtime so a second language-conditioned policy reuses the CLI/REPL/UI instead of copying pi052's. The tick loop, REPL, panel, and interactive CLI are now policy-independent in lerobot/runtime/; a policy plugs in only a LanguageConditionedPolicyAdapter. - Move repl.py, ui.py, and runtime_cli.py (-> cli.py) from pi052/inference/ into lerobot/runtime/. Generalize labels/titles (panel_label param, [runtime] prefixes). - lerobot.runtime.cli.run(argv, *, adapter_factory, panel_label, prog) is the shared entry; policy loading already dispatches generically via the factory on cfg.type. - lerobot-pi052-runtime is now a thin entry (scripts/lerobot_pi052_runtime.py) that passes PI052PolicyAdapter into run(). pi052/inference/ keeps only the adapter. - Drop PI052Runtime back-compat wrapper (no consumers). - Drop VQA visualization: delete inference/vqa.py + test_pi052_vqa_loc.py, remove answer_vqa/VQAResult from the Protocol + adapter, and the /question command + overlay paths from the CLI/REPL. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>	2026-07-02 15:12:33 +02:00
Pepijn	4fa9578e3d	refactor(pi052): trim PR — remove say tool, debug gates, dead code; move runtime ... Cleanup pass over the language-support PR to cut LOC and scope creep. Removals: - SayTool + tools/ package (registry, Tool protocol, [tools] extra) and the runtime's tool-dispatch path. Kept <say> training supervision and inference stripping so speech-annotated datasets still train. - WeightedEpisodeAwareSampler + VQA oversampling wiring (_build_vqa_oversample_weights, vqa_target_fraction) — training uses plain EpisodeAwareSampler again. - Debug env-gates PI052_DEBUG_TENSORS, PI052_SUBTASK_USE_TASK, EVAL_TASK_OVERRIDE. - Dead code: broken _tp._DUMP_BUDGET block, unused imports (copy/Tensor, RevisionNotFoundError, LeRobotDataset, os), messages_for_vqa, steps.py shim (modeling imports pi052_adapter directly), duplicated _emit, builtins.type[T]. Moves: - Policy-agnostic runtime -> src/lerobot/runtime/ (LanguageConditionedRuntime + adapter Protocol + state); pi052 keeps only its adapter + CLI. Tests -> tests/runtime/. Other: - Compacted verbose AI-authored comments/docstrings across pi052 (kept the hard-won DDP / barrier-timeout / reduce-max / VQA-routing notes). - Relocated LM-head prediction debug helper to pi052/debug_utils.py. - Fixed test_render_messages: assert task-fallback render (current behavior) instead of the stale no-op expectation. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>	2026-07-02 14:16:41 +02:00