Eliminate the standalone pi052/pi05_backbone.py by distributing its contents:
- Generic dual-expert transformer machinery -> lerobot/policies/pi_gemma.py
(sdpa_attention_forward, compute_layer_complete, PaliGemmaWithExpertModel,
get_gemma_config; the openpi width/depth config is renamed GemmaConfig ->
GemmaVariantConfig to avoid clashing with transformers' GemmaConfig). These
sit next to the existing PiGemma layer code they already depend on.
- pi052-specific model + helpers -> pi052/modeling_pi052.py (PI05Pytorch,
ActionSelectKwargs, make_att_2d_masks, pad_vector, resize_with_pad_torch,
create_sinusoidal_pos_embedding, sample_beta, get_safe_dtype).
DEFAULT_IMAGE_SIZE is duplicated as a plain constant in pi_gemma to avoid a
pi_gemma -> pi05 import cycle. Additive to pi_gemma; pi0/pi05 unaffected.
Verified bit-exact on pepijn223/pi052_robocasa_full (embed/predict/forward
identical) and all 34 pi052 tests pass.
Co-authored-by: Cursor <cursoragent@cursor.com>
_fast_ce/_shifted_ce were renamed to _fast_lin_ce/_shifted_lin_ce and changed
from logits-based to Liger fused-linear-CE (hidden @ lm_head_weightᵀ). Update
the tests via thin adapters that pass an identity lm_head_weight (so the
computed logits equal the provided ones), run on CUDA (Liger is GPU-only) and
skip otherwise, and loosen the allclose tolerance to absorb GPU-vs-CPU float
noise on the tiny losses.
Co-authored-by: Cursor <cursoragent@cursor.com>
The smolvla branch had modified the shared pi0/pi05 modeling + pi05 config to
support pi052 (SDPA attention, layernorm/lm_head handling, optimizer
foreach/fused/lm_head_lr_scale, embedding scaling). Decouple pi052 instead:
- Vendor the PI0.5 backbone (PaliGemmaWithExpertModel, PI05Pytorch, helpers)
into pi052/pi05_backbone.py (verbatim copy, no PI05Policy).
- Flatten PI052Policy to subclass PreTrainedPolicy directly (no longer
PI05Policy); inline the needed PI05Policy methods.
- Restore optimizer_foreach/fused + get_optimizer_preset on PI052Config.
- Revert pi0, pi0_fast, pi05 modeling and configuration_pi05 to origin/main
(byte-identical), so the shared policies carry no smolvla modifications.
Behavior verified bit-exact on pepijn223/pi052_robocasa_full: embed_language_
tokens, predict_action_chunk, and the fused flow+text+FAST training loss are
identical before/after (max_abs_diff=0). pi052 tests pass (pre-existing
stale-name collection errors unchanged).
Co-authored-by: Cursor <cursoragent@cursor.com>
* first commit
* feat(policies): add VLA-JEPA
* feat(policies): add VLA-JEPA
* support vla_jepa
* (feat)policies: add VLA-JEPA
* linting
* adding deps to pyproject.toml
* updating uv lock
* adding guards to avoid needing transformers and diffusers for type checking and basic tests
* fixing action and state dim
* fix warnings with qwen processor kwargs
* fixing wm_loss not propagating
* adjusting obs steps, tublets size to match original implementation
* some more fixes to be closer to the original implem
* adding more tests to ensure good coverage
* align VLA-JEPA architecture with original checkpoint
- Remove stale `action_num_heads` / `action_attention_head_dim` config fields;
DiT head dimensions are now always derived from the preset (DiT-B/L/test).
- Add `num_target_vision_tokens` and `action_max_seq_len` config fields required
by the action head's future-token embedding and positional embedding tables.
- Fix default `qwen_model_name` to 2B (matches all released checkpoints).
- Rename `ActionEncoder` attrs w1/w2/w3 → layer1/layer2/layer3 to match
checkpoint key names; replace `nn.Sequential` decoder/state-encoder with
`_MLP2` (layer1/layer2 naming).
- Fix `VLAJEPAActionHead` to size ActionEncoder and StateEncoder at `inner_dim`
(DiT input width) rather than `action_hidden_size` (DiT output width).
- Rename `DiT.blocks` → `transformer_blocks` and `attn` → `attn1` to match
checkpoint; add alternating cross/self attention (even blocks cross-attend to
Qwen context, odd blocks self-attend).
- Add `DiT-test` preset for unit tests.
- Rewrite `ActionConditionedVideoPredictor` with explicit ViT-style blocks
(`_PredictorBlock` with fused qkv) to match checkpoint structure; rename
`encoder`/`norm`/`proj` → `predictor_blocks`/`predictor_norm`/`predictor_proj`.
* propagate action_is_pad masking through VLA-JEPA policy pipeline
Pass the `action_is_pad` tensor from the batch through to the action head
so padded timesteps are excluded from the flow-matching loss.
* update VLA-JEPA tests for arch changes and action_is_pad
- Switch conftest to use `action_model_type="DiT-test"` now that
`action_num_heads` / `action_attention_head_dim` have been removed.
- Add action_head tests covering fully-padded loss (zero) and equivalence
of action_is_pad=None vs all-zeros mask.
- Remove obsolete `test_native_to_lerobot_wm_only` test.
* add VLA-JEPA documentation
Covers architecture overview, pretrained checkpoints, config reference,
training/eval commands for LIBERO-10, and guidance on fine-tuning for
single-camera datasets.
* add one-shot script to convert ginwind/VLA-JEPA checkpoints to safetensors (will remove once migrated)
* make default params more aligned with paper and pretrained models
- adding possibility of freezing qwen backbone and world model
- added tests for weight loading
* trying out to re-init the action head to avoid pretraining dimension mismatch
* allow different state dim and action dim
* removing missleading future_action_window_size to just use chunk_size
* lots of changes to make existing weights work, need to massively refactor the pre and post processing
* refactoring into using pre and post processor
* pre-commit cleanup
* fixing doc defaults args
Signed-off-by: Maxime Ellerbach <maxime@ellerbach.net>
* adressing dtype zeros issue
* adding guard for diffusers
* fixing training and exal examples
* trying to close success rate gap
* fix qwen norm layer output libero eval is now as expected
* adding instructions for different embodiement + fixing some tests
* smol fix to avoid having default CPU device when training
* fixing misconception about multiview / singleview handling
* removing conversion script
* adding licences
* adding .mdx docs and shortening polivy_vla_jepa_README.md
* removing useless pre-processor
* cleanup
* removing swish in favor of silu
* adding configuration gripper index and threshold
* fixing simlink
---------
Signed-off-by: Maxime Ellerbach <maxime@ellerbach.net>
Co-authored-by: ginwind <ginwind@mail.ustc.edu.cn>
Bring the authoritative annotation pipeline from the annotation branch.
The annotation surface is forced to EXACTLY match feat/language-annotation-
pipeline (the annotation branch is the source of truth for annotation
code), which also removes smolvla's stale copies:
- deleted: steerable_pipeline/vocabulary.py, tests/annotations/test_
vocabulary.py, prompts/module_0_vocabulary.txt, module_1_action_record
.txt, module_3_vqa.txt, module_1_plan.txt, and the old module_* prompt
names (now plan_*/interjections_*/vqa.txt).
- synced: all of src/lerobot/annotations/, lerobot_annotate.py,
examples/annotations/, tests/annotations/, datasets/language.py,
tests/datasets/test_language.py, docs/annotation_pipeline.mdx.
Non-annotation conflicts resolved by union (keeping both branches' intent):
- pyproject.toml: keep smolvla's pi extra (+sentencepiece) and add the
molmoact2 extra from main.
- policies/factory.py: keep both dataset_repo_id (pi052 FAST tokenizer)
and dataset_meta (both are referenced); union the policy-type docstring.
- scripts/lerobot_train.py: keep smolvla's pi052 / use_relative_actions
processor-rebuild block.
- uv.lock: regenerated from the merged pyproject.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Drop the optional structured per-subtask action records — not a feature
we want to ship.
* language.py: remove 'action_record' from CORE_STYLES + PERSISTENT_STYLES
(and the matching assertion in tests/datasets/test_language.py).
* config.py: delete ActionRecordsConfig (verb/grasp vocabularies,
frames_per_subtask, emit_record_row) and the PlanConfig.action_records
field.
* plan_subtasks_memory.py: delete _extract_action_record and the
run_episode block that emitted style='action_record' rows; drop the
now-unused json / to_image_blocks imports.
* remove the plan_action_record.txt prompt.
* run_hf_job.py: drop the action_records comment.
Verified: 40 tests pass; pre-commit (ruff, mypy, bandit) clean.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The pyproject annotations-extra comment still described the removed
vllm/transformers in-process backends ('vllm preferred ... transformers
fallback', '_make_vllm_client'); rewrite it for the openai-only reality
and trim it. Also condense the conftest lazy-import NOTE. Comments only.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Bugs
* validator: don't re-raise on unknown style. The second column_for_style
lookup (used to route persistent vs event) now sits in try/except so an
unknown style is recorded by _check_column_routing and skipped instead
of crashing the whole validation pass.
* general_vqa._target_cameras: when restrict_to_default_camera is set but
the configured camera_key isn't one the provider exposes, warn and fall
back to all cameras instead of returning a phantom key that KeyErrors
deep in frame decode.
* interjections: clamp interjection timestamps to frame_timestamps[0]
rather than a hardcoded 0.0 (datasets can start at non-zero t).
Docs / code drift
* annotation_pipeline.mdx: drop the phantom 'vocabulary discovery / phase
0 / --vocabulary.* / canonical_vocabulary.json' section (none of it
exists); describe the real describe->segment + coverage-stitch flow.
Soften the src/lerobot/tools/ + TOOL_REGISTRY reference to 'not part of
this PR' (matches tools.mdx, which already marks the runtime layer as
not-yet-implemented). Fix the --push_to_hub/--new_repo_id wording. Note
the default is now a single h200. Add a 'Contributing new modules'
section inviting module / prompt / quality contributions.
* executor docstring: six phases, no phantom phase 0.
run_hf_job.py
* add the Apache 2.0 license header (was flagged repeatedly).
* default to a single GPU: flavor=h200, parallel_servers=1, num_gpus=1
(scale to h200x4 noted in the docstring).
* pin the install to @main instead of the feature branch (won't break
after merge).
Naming / cleanup
* rename dest_repo_id -> new_repo_id across config / script / example /
test to match the LeRobot dataset edit tools.
* rename prompt templates module_N_*.txt -> descriptive (plan_*,
interjections_*, vqa.txt) and update every load_prompt() call.
* remove dead _messages_to_prompt (used only by the removed in-process
backends).
* declare _warned_decode_fail (frames) and _warned_no_camera (vqa) as
real init=False dataclass fields instead of getattr monkey-patches.
* scope bandit B607 to the two ffmpeg subprocess.run sites via
'# nosec B607' and drop it from the global skip list.
Tests
* fix stale canned-VLM markers ('ONE realistic interruption' ->
'compact interjection', 'Update the memory' -> 'compressed semantic
memory') and drop the dead 'concise hierarchical PLAN' plan responders
(plan generation is deterministic now) in run_e2e_smoke,
test_pipeline_recipe_render, test_modules.
* run_e2e_smoke now asserts interjection + speech rows are produced so a
stale marker can't silently pass again.
* drop remaining 'PR 1' / 'PR 2' references from test comments / names.
Verified: tests/annotations + tests/datasets/test_language +
tests/scripts/test_lerobot_annotate (31 passed); make-style E2E smoke
(interjections=1 speech_atoms=2); pre-commit (ruff, mypy, bandit,
prettier) clean.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The annotation tests had never actually run in CI (collection failed on
the missing 'datasets' extra); now that they do, three stale assertions
surfaced against the evolved pipeline:
* test_module1_plan_memory_subtask_smoke: the memory canned-responder
marker 'Update the memory' no longer appears in module_1_memory.txt
(now 'compressed semantic memory'), so the stub returned no memory
row and the {subtask,plan,memory} subset check failed. Marker
updated to match the current prompt.
* test_module2_mid_episode_emits_paired_interjection_and_speech: the
interjection marker 'Write ONE interjection' is now 'Write ONE
compact interjection' in module_2_interjection.txt, so 0 interjections
were emitted. Marker updated.
* tests/datasets/test_language.py::test_style_registry_routes_columns:
PERSISTENT_STYLES gained 'action_record' in this PR; add it to the
expected set.
These are test/prompt-marker syncs — no production behavior change.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Fast Pytest Tests failed at COLLECTION in the base '--extra test' tier
with 'ModuleNotFoundError: No module named datasets': tests/annotations/
conftest.py imported the fixture dataset builder (-> lerobot.datasets ->
the HF 'datasets' lib + pandas/pyarrow), which only ship under the
'dataset' extra, so the whole annotations package crashed.
Fix uses the repo's proven module-level guard pattern (see
tests/datasets/test_language.py), NOT a conftest-level importorskip —
verified empirically that pytest.importorskip raised during conftest
*import* is treated as a collection ERROR (exit 1), while module-level
importorskip is a clean SKIP.
* conftest.py: import build_annotation_dataset LAZILY inside the
fixtures so the conftest itself imports cleanly in every tier.
* test_modules / test_validator / test_writer / test_pipeline_recipe_
render: add module-level pytest.importorskip('datasets') +
('pandas') before the pyarrow / lerobot.* imports (# noqa: E402 to
match the existing convention). pyarrow-importing modules place the
guard before the pyarrow import.
* tests/scripts/test_lerobot_annotate.py: same guard (its _push_to_hub
path imports lerobot.datasets).
Result:
- base / hardware / viz tiers (no dataset extra): annotation tests
skip cleanly; the rest of the suite runs -> exit 0.
- dataset tier: datasets present -> guards pass through -> annotation
tests run with the stub VLM. The pipeline modules import only
stdlib + relative + lerobot.datasets (no module-level datatrove /
vllm / openai), so they import fine there.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
VideoFrameProvider derived its default camera and camera list from
meta.camera_keys, which mixes image- and video-stored cameras. The
clip/decode paths read videos/<key>/from_timestamp, which only exists
for video keys, so an image-stored camera sorted first (e.g.
observation.images.wrist) crashed the plan phase with a KeyError.
Restrict the list and default to meta.video_keys. Add a regression test
and point the example job at the dataset's actual video camera. Skip
bandit B607 (ffmpeg/git are intentionally resolved via PATH).
Co-authored-by: Cursor <cursoragent@cursor.com>
* feat(rewards): add TOPReward reward model
* refactor(rewards): clean up TOPReward processor/model
* fix(rewards/topreward): add missing input keys mm_token_type_ids
* fix(rewards/topreward): fix pyproject extra typo and simplify processor (#3653)
Add lerobot[topreward] extra to all in
pyproject.toml, drop the redundant labels arg in scoring, and
collapse the dead-branch shape check in the encoder processor.
* optmize topreward input processing (#3660)
---------
Co-authored-by: Cole <91766445+jcoleharrison@users.noreply.github.com>
Co-authored-by: Haoming Song <haomingsong24@gmail.com>
PR #3145 added YAML support for policy.path but left two bugs:
1. extract_path_fields_from_config only deleted config_data[field] when
no sibling overrides existed. With siblings, the dict stayed in place
and draccus crashed decoding it as PreTrainedConfig (no 'type' key).
Sibling overrides go into _config_yaml_overrides and are applied later
by from_pretrained(), so the field can always be removed.
2. wrap() updated config_path_cli to the cleaned temp file path but
never propagated it to the draccus.parse fallback branch. cli_args
still contained --config_path=<original>, so draccus read the
original YAML with path: still present.
Tests passed because they (a) called extract_path_fields_from_config
directly and (b) included type: alongside path: in the YAML, sidestepping
both bugs.
Co-authored-by: Steven Palma <imstevenpmwork@ieee.org>
Replaces the per-layer ``modeling_gemma.eager_attention_forward`` call
with ``torch.nn.functional.scaled_dot_product_attention`` in
``compute_layer_complete`` (pi05) and ``_compute_layer_ki`` (pi052).
PyTorch SDPA picks the memory-efficient kernel for the
block-bidirectional 4D additive mask the dual-expert model uses (FA2 /
FA3 reject it because they only accept causal / sliding-window / varlen
patterns). The shared ``sdpa_attention_forward`` helper mirrors the
eager signature so the call sites are unchanged.
Selective AC: removes the redundant outer ``_apply_checkpoint(forward_func, ...)``
wrap in ``PI05Pytorch.forward``. Per-layer checkpointing inside
``PaliGemmaWithExpertModel.forward`` already handles activation
recompute; the outer wrap was double-recomputing the whole backbone.
+14% steps/sec on its own (job 22161405 vs 22161398, 1xH100).
groot: drop ``@strict`` on ``GR00TN15Config`` — newer ``huggingface_hub``
rejects ``@strict`` on non-dataclass ``PretrainedConfig`` subclasses,
which was blocking imports of any sibling policy through
``lerobot.policies.factory``.
New ``examples/benchmark/bench_pi052_step.py`` (+ slurm sweeps v1..v8)
times PI052Policy.forward+backward (optionally with AdamW) on
synthetic inputs. Headline numbers on 1xH100 with KI=True, GC=True,
L=512, 4.14 B trainable params, AdamW state in bf16:
pre-SDPA eager BS=8 610ms 19.5 GiB -> 13.1 samples/s
sdpa BS=8 + compile=default 413ms 19.5 GiB -> 19.3 samples/s
sdpa BS=16 + compile=default 715ms 37.3 GiB -> 22.4 samples/s
sdpa BS=32 + compile=default 1325ms 44.8 GiB -> 24.2 samples/s
sdpa BS=40 + compile=default 1665ms 48.6 GiB -> 24.0 samples/s
Parity tests in ``tests/policies/pi052/test_pi052_sdpa_attention.py``
cover fp32 / bf16 / GQA / MHA forward + backward — output and grads
match the eager path within bf16 tolerance.
Also ships ``examples/benchmark/fsdp_pi052.yaml`` (FSDP2 accelerate
config wrapping GemmaDecoderLayer + SiglipEncoderLayer) for the
follow-up multi-GPU memory sharding work.
Co-authored-by: Cursor <cursoragent@cursor.com>
Resolves conflicts from 32 commits on main:
* docs/source/_toctree.yml — keep both new toc entries
(annotation_pipeline + video_encoding_parameters).
* docs/source/language_and_recipes.mdx — adopt main's section
ordering (Layer 2 before "Temporal semantics") and float32
timestamp dtype to match the codebase.
* src/lerobot/configs/__init__.py — keep both export sets
(recipe + video encoder).
* src/lerobot/datasets/dataset_metadata.py — drop redundant lazy
imports (top-level imports cover both LANGUAGE_COLUMNS and
DEFAULT_TOOLS); adopt main's @tools.setter for info.json
write-back.
* src/lerobot/datasets/feature_utils.py — call the real
validate_feature_language() instead of returning "".
* src/lerobot/datasets/language.py — float32 timestamps to match
pa.float32() used in video_utils.py and the rest of the codebase.
* src/lerobot/datasets/language_render.py — adopt main's
unwrap_scalar() helper (drops two hand-rolled .item()/list
unwrappers); float32 in docstring.
* src/lerobot/processor/render_messages_processor.py — drop
PR-local _scalar() helper, use shared unwrap_scalar().
* tests/datasets/test_language.py — adopt main's new float32 dtype
+ validate_feature_language warning tests.
* tests/datasets/test_dataset_metadata.py — adopt main's new
tools.setter persist/clear tests.
* uv.lock — regenerated cleanly from main's resolver.
90 of 92 touched tests pass. Two pre-existing test failures
(test_module1_plan_memory_subtask_smoke,
test_module2_mid_episode_emits_paired_interjection_and_speech in
tests/annotations/test_modules.py) are unrelated to this merge —
that test file doesn't exist on main, so the failures originate on
the branch and are addressed by the 8 newer fix(annotate) commits
already on origin that will land in a follow-up.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Parallel variant of build_robocasa_composite_seen.py modeled after the
existing slurm_port_shards.py / slurm_aggregate_shards.py pattern.
Two-phase datatrove pipeline:
* Phase 1 DOWNLOAD: tasks=16 (one per RoboCasa composite_seen task),
each worker downloads its assigned tar via RoboCasa's own
download_datasets helper. Network-bound, idempotent.
* Phase 2 AGGREGATE: tasks=1, single worker calls aggregate_datasets
over the 16 extracted directories. Submitted with depends=phase1 so
SLURM only releases it once all 16 downloads succeed.
Reuses the COMPOSITE_SEEN_TASKS list and per-task download/resolve
helpers from the single-machine script via aliased imports — single
source of truth for 'what does it mean to download a composite_seen
task'.
Local (--slurm 0) mode runs the two phases sequentially in-process for
debugging on a workstation.
Usage on SLURM:
uv run python examples/port_datasets/slurm_build_robocasa_composite_seen.py \
--output-dir=/scratch/${USER}/robocasa_composite_seen \
--hub-repo-id=${HF_USER}/robocasa_composite_seen \
--logs-dir=/scratch/${USER}/logs/robocasa \
--partition=cpu --push-to-hub
Prereq: uv sync --extra annotations (pulls datatrove)
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
If two consecutive VLM-emitted subtask spans have ``start`` timestamps
that round to the same source frame after ``snap_to_frame`` (e.g. on
short episodes the VLM sometimes nominates two ~adjacent action
boundaries within one 30 Hz step), the writer emits two
``style=subtask`` rows at the identical persistent timestamp. The
training-time renderer's default binding
``subtask: active_at(t, style=subtask)`` then raises:
ValueError: Ambiguous resolver for style='subtask';
add role=..., tool_name=..., or camera=... to disambiguate.
… and the whole training run dies on the first batch.
Observed concretely on ``pepijn223/super_poulain_vocab2`` (job
22159979): episodes 3 and 30 each had two subtask rows at the same
timestamp (``release yellow cube`` + ``retract arm`` snapping to the
same frame).
Add ``_dedupe_starts_to_distinct_frames`` to walk the cleaned span list
and, whenever a snapped start collides with one already used, push the
later span onto the next free frame timestamp. Both subtasks survive
on distinct timestamps; the renderer can now disambiguate. If the
episode genuinely has no later free frame (extremely unlikely — would
require a same-timestamp collision on the very last frame of the
episode), the later span is dropped with a warning rather than left
to poison the render.
New test ``test_plan_module_bumps_collocated_subtasks_to_distinct_frames``
locks in the contract; full vocabulary suite is 14/14 green.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Co-authored-by: Cursor <cursoragent@cursor.com>
The Jaccard-overlap snap was warping VLM output into wrong canonical
labels — e.g. an off-vocab "consult the wizard" span would silently
become "grasp blue cube" if that scored highest. Even with a higher
floor the operator can't tell which subtasks were paraphrases vs
genuine mislabels in the resulting dataset.
Replace with strict exact-match validation + a single targeted retry:
1. Generate subtasks as before.
2. If any returned subtask's normalised form (lowercased, articles
stripped, whitespace collapsed) isn't in the canonical vocab,
fire one retry call naming the offending strings and re-sending
the full canonical list. The retry prompt requires byte-identical
output from the vocab.
3. After the retry, validate again. Spans still off-vocab are
dropped — no fuzzy snapping ever produces a different canonical
label than the VLM actually emitted.
4. If every span ends up off-vocab even after the retry, warn loudly
so the operator extends ``meta/canonical_vocabulary.json`` to
cover the missing phase. The episode is left with empty subtasks
rather than silently fabricated ones — visibility > sweep-under-
the-rug.
Promote ``_NORMALIZE_STRIP_TOKENS`` to a class constant and split the
normalisation helper out so the retry-validation and the final
canonicalisation share one source of truth.
Tests:
- test_plan_module_accepts_article_only_difference: "grasp the blue
cube" still maps to canonical "grasp blue cube" (article-tolerant).
- test_plan_module_retries_when_subtask_off_vocab: paraphrase
triggers the retry which the VLM corrects in pass 2.
- test_plan_module_drops_off_vocab_subtask_after_retry: VLM that
refuses to correct → bad span dropped, in-vocab span kept.
- test_plan_module_empty_when_all_off_vocab_after_retry: every
span off-vocab → episode left empty (no warping).
All 13 vocabulary tests pass.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Co-authored-by: Cursor <cursoragent@cursor.com>
When the canonical vocabulary is enabled and the VLM produces spans
that don't overlap any canonical label, the previous Jaccard-floor
(0.5) dropped them and the episode came out with no subtasks at all
— invisible to the downstream policy. Observed on
``pepijn223/super_poulain_vocab``: some episodes had empty subtask
columns because every VLM-emitted phrase scored below 0.5 against
the discovered vocabulary.
Two-pass canonicalisation:
- First pass keeps the Jaccard floor (lowered from 0.5 → 0.25, to
let mild paraphrases through) and drops everything below.
- If that first pass leaves the episode with **zero** subtasks,
fall back to a second pass that always snaps each VLM span to
its nearest canonical label by Jaccard (no floor). The episode
ends up with subtasks even when the vocabulary missed a phase
— a slightly-wrong canonical label is still closer to the right
motion than nothing at all.
- Log loudly when the fallback fires so the operator can spot
coverage gaps in ``meta/canonical_vocabulary.json``.
- Log a per-episode count at INFO when some (but not all) spans
were dropped so it's visible without spamming the run output.
Promote the Jaccard floor + ignore-tokens to class constants so
they're a single edit point. Add ``force=True`` parameter to
``_canonicalize_subtask`` for the no-floor fallback path.
New test ``test_plan_module_snaps_when_all_off_vocab`` covers the
fallback; existing ``test_plan_module_drops_off_vocab_subtask`` is
adjusted to keep at least one in-vocab span so the floor path can
still fire and is exercised. All 12 vocabulary tests pass.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Co-authored-by: Cursor <cursoragent@cursor.com>
The pipeline previously emitted near-unique subtask + memory phrasings
per episode (free-form LLM rephrasing). On the downstream low-level
policy that collapses the action expert's conditioning to noise: every
episode pairs a different paraphrase with similar motions, so the
expert learns a flat scene-prior that ignores the subtask string —
then at inference the high-level head invents *yet another* paraphrase
and the expert produces tiny "uncertain hover" chunks.
Add a vocabulary-discovery phase (phase 0) that runs once per dataset:
- watches the first ``vocabulary.sample_episodes`` (default 3)
episode videos as one Qwen-VL prompt,
- asks the VLM to derive ~``n_subtask_target`` canonical imperative
subtask labels and ~``n_memory_target`` first-person past-tense
memory milestones that recur across the demos,
- persists them to ``meta/canonical_vocabulary.json`` (human-
inspectable, hand-editable), and
- wires the resulting ``Vocabulary`` into the ``plan`` module so
every per-episode subtask + memory call is constrained to those
exact strings (both as prompt-side instructions *and* post-VLM
validation: paraphrases snap to the closest canonical entry via
token-set overlap; below a 0.5 Jaccard floor the subtask is
dropped rather than warped into something semantically wrong).
Operator workflow:
- first run discovers the vocabulary, writes the JSON, and runs
the ``plan`` module against it,
- subsequent runs reuse the on-disk file (``reuse_existing=True``
default) so hand-edits stick,
- set ``--vocabulary.enabled=False`` to fall back to free-form
generation (the original behaviour).
The discovery prompt forbids gerunds / third-person / adverbs and
caps the lists to the requested counts, matching the Hi-Robot /
π0.6-MEM convention of small per-environment vocabularies. The
``plan`` module's subtask + memory prompts grow a conditional
``{vocabulary_block}`` slot rendered only when a vocabulary is
present; without one the templates collapse to their previous
free-form form.
Tests: 11 new unit tests under tests/annotations/test_vocabulary.py
cover the on-disk round-trip, discovery against the fixture dataset,
``reuse_existing`` short-circuit, paraphrase canonicalisation, off-
vocab subtask dropping, and the no-vocabulary pass-through path.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Co-authored-by: Cursor <cursoragent@cursor.com>
* chore(gr00t): sync with #3606 for fixing gr00t config crash
* fix(pi0&pi05): fix graph break caused by deepcopy of past_key_values in sample_actions
* fix(pi0&pi05): fix frequent recompile caused by compute_layer_complete
* feat(test): add compile test and benchamrk for pi0 and pi05
* feat(test): add comprehensive testing for pi0 and pi05. Including processor, forward, sample action, etc.
The trained model collapsed to spewing 40+ <loc> tokens for *every*
prompt — subtask, memory, anything — because VQA targets were supervised
to *start* with <loc>. With ~25% of all text samples beginning with a
<loc> token, the LM head learned "Assistant: → <loc>" as a strong
attractor; once one loc is emitted, autoregression chains the rest.
Flip the format so every text target — subtask, memory, speech, AND VQA
— starts with a regular word. The model still learns the <loc>
vocabulary for the spatial portion of the answer, but loc can no
longer be the first generation step out of a clean prompt.
Examples:
point : "green box <loc0162><loc0759>"
bbox : "cube <loc0082>…<loc0409>"
multi : "blue <locs> ; yellow <locs>"
The runtime parser (parse_loc_answer) strips loc tokens and uses the
remainder as label, so it's order-tolerant and works under either
format. Old loc-first checkpoints still parse cleanly at inference;
new training will use label-first.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
THE bug behind the <loc>-salad. PaliGemma's vocab reserves ids
[256000, 257023] for <locDDDD> detection / pointing tokens, but the
stock AutoTokenizer does NOT match them on raw text — it BPE-splits
<loc0162> into SEVEN pieces (<, loc, 0, 1, 6, 2, >). So a VQA target
like "<loc0162><loc0759> green box<eos>" tokenized to 16 pieces, not
5, and training the LM head supervised those generic BPE pieces
instead of one detection-vocab id. The piece logits got pumped up
across ~25% of supervised positions; at inference they dominated
every turn — even subtask prompts produced <loc>-salad followed by
the actual answer.
Register the 1024 <locDDDD> tokens via tokenizer.add_tokens once on
load, in every path the policy uses: PI052TextTokenizerStep (training
encode), _build_text_batch_pi052 (runtime encode), and
select_message's default tokenizer (runtime decode). Verified
empirically with the real PaliGemma tokenizer: VQA target now
tokenizes to 5 ids matching the loc-vocab range (256162, 256759, ...)
with correct offset_mapping.
This unlocks PaliGemma's actual detection prior; <loc>-salad cannot
recur because each <locDDDD> is a single class on the LM head, not a
character sequence the head accidentally learns to extend.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Confirmed empirically on the published dataset: VQA bbox/keypoint
coordinates are Qwen2.5-VL's 0–1000 normalized grounding output, NOT
pixels. Scanning 8207 samples showed x and y both spanning 0..1000
with ~30% of values exceeding the camera's pixel dimensions (which is
impossible if they were pixels).
_vqa_answer_to_loc was dividing by the observation image's H/W, so
e.g. point [742, 158] on a 640x480 wrist cam clamped x to <loc1023>
(the far-right edge) instead of mapping to <loc0760> (~74% across).
Fix: divide by 1000 — the actual Qwen scale. The conversion is now
camera-resolution-independent, so _camera_image_shapes and the
image_shapes plumbing through __call__ / _encode_messages /
_messages_vqa_to_loc are dropped. Tests updated to the new signature
and the 0–1000 round-trip.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Spatial VQA answers (bbox / keypoint) were trained as pixel-coordinate
JSON, which fights PaliGemma's detection prior and leaks <loc>-token
salad at inference. Convert them to PaliGemma's native <locNNNN>
vocabulary instead so the LM head reuses that prior.
Training side (text_processor_pi052.py): a target turn whose content
parses as a bbox/keypoint answer is rewritten to <loc> text, using the
camera frame's native (H, W) from the observation and the preceding
image block. Non-spatial answers, subtask/memory targets and SmolVLA2
keep their JSON form — the dataset stays backbone-agnostic.
Runtime side (smolvla2/inference/vqa.py): parse_vqa_answer detects
<loc> answers (2 locs -> keypoint, 4 -> bbox), returning normalized
[0,1] coords with a normalized flag; draw_vqa_overlay denormalizes
against the chosen camera frame's pixel size.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Keep action-only samples trainable by rendering the task as a low-level user message when no recipe branch matches.
Co-authored-by: Cursor <cursoragent@cursor.com>
PI052TextTokenizerStep masked text_labels over the assistant turn's
*content only* — the trailing newline was excluded and no EOS token was
ever a supervised label. So the LM head was never given a stop signal:
at inference select_message decoded to max_new_tokens, producing the
runaway subtask paragraphs and the "}"}"}-style VQA tails.
_format_messages now appends the tokenizer's EOS to each supervised
target turn and extends that turn's span to cover it, so the EOS lands
in text_labels. _shifted_ce then trains "<last content token> -> EOS"
and the model learns to terminate; select_message stops on it.
Inference callers (the runtime's _build_text_batch_pi052) pass no
target_indices / eos_token, so no EOS is baked into the prompt — the
model generates it. Verified end-to-end with the PaliGemma tokenizer:
the supervised span is `<content><eos>` and the trailing newline stays
unsupervised.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
VideoDecoderCache used an unbounded dict keyed on absolute path, with no
eviction in the standard LeRobotDataset path. With shuffled iteration over
datasets that have many distinct mp4 files, every DataLoader worker
accumulated one cached (VideoDecoder, fsspec file handle) pair per distinct
path it had ever touched. Per-entry cost is ~3-5 MB of host RAM plus one
open FD; at ~8 k entries this is roughly 30 GB per worker.
This was hit in the wild during a SmolVLA training run on a 4,195-episode
SO-101 dataset (8,390 mp4s, two cameras per episode). dmesg showed
anon-rss climbing to 34.9 GB on a single pt_data_worker before the OOM
killer fired ~30 min into training; with --num_workers=8 the per-worker
peak halved to 17.9 GB, which is the expected inverse-scaling signature
when the leak is per-decode and the workload is split across workers. The
working workaround on the affected platform was --dataset.video_backend=pyav,
because the pyav path opens/closes per call and never touches this cache.
Switch the backing store to an OrderedDict and evict LRU entries when the
cap is reached, closing the evicted file handle inside the lock so we do
not leak FDs either. Default cap is DEFAULT_DECODER_CACHE_SIZE = 100,
overridable via LEROBOT_VIDEO_DECODER_CACHE_SIZE or by passing max_size=
to the constructor; max_size=None restores the legacy unbounded behaviour
for callers that need it.
Validation on the original failing workload (decode_video_frames_torchcodec
called over real mp4s from the affected SO-101 dataset):
unbounded: 300 files -> +1087 MB host RSS, cache=300, still climbing
cap=50: 500 files -> +266 MB host RSS, cache=50, stable
cap=50: 2000 calls -> +312 MB host RSS, cache=50, stable
cap=100: 1000 calls -> +470 MB host RSS, cache=100, stable
Three independent seeded runs at cap=50 agreed to within 1% (263 / 266 /
265 MB delta), and the 2000-call multi-pass run shows RSS plateaus after
the cap is reached instead of drifting.
Tests in tests/datasets/test_video_decoder_cache.py cover:
default-is-bounded, size cap, LRU ordering, FD close on eviction, FD close
on clear(), cache-hit invariance, max_size=None fallback, and env-var
override. No regressions in test_video_encoding.py, test_streaming.py, or
test_dataset_reader.py (73 prior tests still pass alongside the 8 new ones).
* feat(utility): adding video re-encode utility
* feat(edit): adding a new lerobot-edit-dataset tool to re-encode all the videos of a dataset
* chore(format): formatting code
* chore(review): fix Claude reviews
* test(reencode dataset): adding missing test for reencode dataset
* Add extensive language support
* Address review: split persistent/event schemas, drop event timestamps
- recipe.py: derive _VALID_ROLES/_VALID_STREAMS from MessageRole/MessageStream Literals
- dataset_metadata.py: keep CODEBASE_VERSION at v3.0
- language.py: remove RESERVED_STYLES; split arrow/feature schemas into
persistent (with timestamp) and event (without timestamp); add docstrings
- language_render.py: events use frame-row timestamp implicitly; no
per-event timestamp filtering or sorting
- converters.py: drop unused subtask_key passthrough
- add docstrings to new public APIs (recipe, render_messages_processor, collate)
- update tests for split schemas; revert uv.lock
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* Add docstrings to all new helpers; revert uv.lock
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(language): add motion (persistent) and trace (event-only) styles
Promote the previously-reserved motion/trace styles to first-class core
styles. motion routes to language_persistent (it tracks robot state over
time); trace routes to language_events (single-moment annotations).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* feat(language): per-camera tagging on view-dependent styles
Adds a nullable `camera` field to the language row struct (both persistent
and event variants) so view-dependent styles like `vqa` can carry which
`observation.images.*` view they were grounded against. Without this,
multi-camera datasets ended up with multiple `(vqa, role)` rows at the
same timestamp that the resolver could not disambiguate.
- `language.py`: add `camera` to PERSISTENT_ROW_FIELDS / EVENT_ROW_FIELDS,
to both Arrow struct types and the HF datasets feature mappings;
introduce VIEW_DEPENDENT_STYLES = {vqa, motion, trace} plus
`is_view_dependent_style` and `validate_camera_field` helpers (camera
required iff style is view-dependent).
- `language_render.py`: thread an optional `camera=` kwarg through every
resolver (`active_at`, `emitted_at`, `nth_prev`, `nth_next`) and through
`_matching_rows` / `_select_*`, so recipes can disambiguate per-camera
VQA with `emitted_at(t, style=vqa, role=assistant, camera=...)`.
Without a `camera` filter, multi-row matches keep raising the existing
ambiguity error — which is the desired behaviour on multi-camera data.
- `recipes/pi05_hirobot.yaml`: replace the single `ask_vqa` branch with
`ask_vqa_top` and `ask_vqa_wrist` per-camera sub-recipes (each carrying
the matching image block), keeping the original 0.20 budget and
documenting the customization point for datasets with different cameras.
- Tests: schema test asserts the new field order; new tests cover
`is_view_dependent_style`, `validate_camera_field` (both required and
forbidden directions), per-camera `emitted_at` filtering, and the
ambiguity error when two cameras emit `(vqa, assistant)` at the same
timestamp without a `camera=` filter. RenderMessagesStep + dataset
passthrough fixtures updated to include the new field.
- `docs/source/language_and_recipes.mdx`: document the `camera` field,
the per-camera resolver pattern, and the canonical recipe convention.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* fix(language): drop motion from VIEW_DEPENDENT_STYLES
Motion primitives are described in robot-frame (joint / Cartesian) terms,
not pixel space, so they are camera-agnostic. Only `vqa` (event) and
`trace` (event, pixel-trajectory) are view-dependent.
The `camera` field stays on PERSISTENT_ROW_FIELDS for schema symmetry —
the validator, resolver, and HF feature mapping behave identically across
the two columns regardless of which styles populate `camera` today —
but persistent rows now always have `camera=None` in practice.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* feat(language): task_aug style + automatic ${task} rephrasing rotation
Adds task-prompt diversity (Xiao 2022 / CAST) without touching
``meta/tasks.parquet`` or forcing recipes to opt in. The plan reserved
``task_aug`` as a future style; this lands it now.
- ``language.py``: add ``task_aug`` to ``CORE_STYLES`` and
``PERSISTENT_STYLES``. ``column_for_style("task_aug")`` returns
``language_persistent`` so PR 2 writers route it correctly.
- ``language_render.py``: ``_resolve_task`` now consults the persistent
slice for rows of ``style="task_aug", role="user"``. When any exist
it picks one deterministically by ``sample_idx`` (blake2b-keyed, not
Python's randomized hash) so an epoch sees every rephrasing of every
episode while the same sample still resolves identically across
reruns. Falls back to the canonical ``meta/tasks.parquet`` task when
no rephrasings are present, so existing datasets and unannotated runs
keep their behaviour. Explicit ``task=`` overrides still win.
- Tests: rephrasing coverage across samples, determinism on repeat
``sample_idx``, fallback when persistent has no ``task_aug`` rows,
and explicit override priority.
Recipes get this for free: any ``${task}`` placeholder rotates through
the available rephrasings. Recipes that want the literal canonical task
can override the binding.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* feat(language): tool catalog in meta/info.json + LeRobotDatasetMetadata.tools
Stores OpenAI-style function schemas at ``meta/info.json["tools"]`` so
datasets can declare which tools are available (today: just ``say``;
tomorrow: per-dataset extensions). The ``DEFAULT_TOOLS`` constant
fills in for unannotated datasets so chat-template consumers don't
have to special-case anything.
Three pieces:
- ``language.py``: ``SAY_TOOL_SCHEMA`` and ``DEFAULT_TOOLS``
constants. Single source of truth — PR 2's writer and PR 3's
runtime tool registry will both import from here instead of
duplicating the dict.
- ``dataset_metadata.py``: ``LeRobotDatasetMetadata.tools`` property
reads ``info.json["tools"]`` and falls back to ``DEFAULT_TOOLS``.
Returns deep-copied dicts so callers can mutate the result safely.
- ``docs/source/tools.mdx``: spec page covering the catalog, per-row
invocations, and the three-step "how to add a new tool" workflow
(declare schema, implement, register). Linked from the docs
toctree under the Datasets section.
This lays the groundwork for PR 2's pipeline writing the catalog out
during annotation, and PR 3's ``src/lerobot/tools/`` package shipping
runnable implementations (one file per tool — first up:
``say.py`` wrapping Kyutai's pocket-tts).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* Apply ruff and prettier formatting after merge
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* refactor(language): unify resolver dispatch and prune redundant test scaffolding
* Drop the unused `events` kwarg from `active_at`/`nth_prev`/`nth_next`;
only `emitted_at` actually consults events. The dispatcher in
`_resolve_spec` now passes events conditionally.
* Replace the dual `_persistent_sort_key`/`_event_sort_key` pair with a
single `_row_sort_key` and drop the `sort_key` parameter from
`_select_one`. Event rows lack `timestamp` (it is implicit in the
frame) and now default to `0.0` for sort purposes — the
`(style, role)` tiebreaker is unchanged.
* Inline `_select_latest` into `active_at` (its only caller).
* Collapse `emitted_at`'s dual-branch into one `_select_one` call.
* Tighten `_validate_persistent_resolver` to a single
`column_for_style(style) != LANGUAGE_PERSISTENT` check.
* Parameterize `test_per_camera_blend_renders_both_views` over the two
cameras and factor the sub-recipe builder into `_vqa_subrecipe` so
the test no longer hand-rolls two near-identical recipe blocks.
Net -98 LOC; behavior, public resolver names, and test expectations
unchanged.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* fix(language): always raise on ambiguous resolver matches
`_select_one` previously skipped its ambiguity check whenever any of
`role`/`tool_name`/`camera` was set, on the assumption that the caller
had already pinned down a unique row. That left a real ambiguity hole
for VQA: with two cameras emitting `(vqa, assistant)` at the same
frame, `emitted_at(..., role="assistant")` silently picked the first
sorted row instead of telling the recipe to add `camera=...`. The
existing `test_emitted_at_raises_on_ambiguous_per_camera_vqa` test
already encoded the desired behavior.
Tighten the check: any time `len(rows) > 1` we now raise with the
selectors echoed back, so users see exactly which fields they passed
and that more is needed to disambiguate.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* chore: fix CI — collapse short ValueError to one line, refresh uv.lock
* `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>
* fix(language): keep base install green — drop processor re-export, gate dataset-extra tests
`lerobot.processor` re-exported `RenderMessagesStep` at the package
level, so importing anything from `lerobot.processor` pulled in
`lerobot.datasets.language` → `lerobot.datasets/__init__.py` →
`require_package("datasets")`, which fails in the Tier 1 base install
that intentionally omits the `[dataset]` extra. The chain bricked
collection for unrelated suites (`tests/policies/pi0_pi05/...`,
`tests/envs/...`, etc.).
* Stop re-exporting `RenderMessagesStep` from `lerobot.processor`. The
only consumer (the test) already imports from the submodule.
Document the deliberate omission in the module docstring.
* Add `pytest.importorskip("datasets", ...)` (and `pandas` where
needed) at the top of the four PR-added tests that exercise the
language stack:
- tests/datasets/test_language.py
- tests/datasets/test_language_render.py
- tests/processor/test_render_messages_processor.py
- tests/utils/test_collate.py
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* fix(language): address review — tools accessor, motion docs, conditional collate
* **`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>
* review: dedupe regex, centralize column names, harden collate, more tests
* **#2 — dedupe `_PLACEHOLDER_RE`.** The same regex was compiled in
`recipe.py` and `language_render.py`. Promote to module-level
`PLACEHOLDER_RE` in `recipe.py` (its primary owner — declares
template syntax) and import from `language_render.py`.
* **#3 — centralize language column names.** `io_utils.py` had
hardcoded `{"language_persistent", "language_events"}` literals at
two sites. Replace with `LANGUAGE_COLUMNS` import so a future column
rename can't silently desync.
* **#4 — defensive collate preserved-keys.** `lerobot_collate_fn`
silently filtered language fields from samples that didn't have
them, which would hand downstream consumers a preserved list
shorter than the tensor batch. Now: if any sample carries a key,
every sample in the batch must carry it; otherwise raise a
`ValueError` so the upstream rendering bug surfaces at the boundary.
* **#5 — `_scalar` rejects non-singleton lists.** Previously a zero-
or multi-element list fell through and triggered confusing
`float([])` errors downstream. Now raises `ValueError` with the
actual length.
* **#6 — refactor `_extract_complementary_data`.** Replace 11 lines
of `key = {... if ... else {}}` plus an 11-line splat dict with a
single `_COMPLEMENTARY_KEYS` tuple iterated once.
* **#7 — document `EXTENDED_STYLES`.** Was an empty `set()` with no
comment. Add a docstring explaining it's an intentional extension
point: downstream modules append project-local styles before
`column_for_style` is called.
* **#9 — `tools.mdx` notes the runtime layer is future work.** The
page referenced `src/lerobot/tools/`, `registry.py`, and
`get_tools(meta)` — none exist in this PR. Added a callout at the
start of "How to add your own tool" plus a note on the
implementations paragraph.
* **#10 — tests for YAML round-trip, malformed rows, blend
validation.** `test_recipe.py` grew from 1 case to 12 covering:
blend-or-messages exclusivity, target-turn requirement, blend
emptiness, weight presence/positivity, nested-blend rejection,
`from_dict` with nested blends, `from_yaml` / `load_recipe`
agreement, top-level non-mapping rejection. Added a malformed-row
test for `_normalize_rows` that asserts non-dict entries raise
`TypeError`.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* review: emitted_at uses 0.1s tolerance; MessageTurn requires stream at construction
* **Float tolerance in `emitted_at` for persistent styles.** The
``_timestamp(row) == t`` exact-equality check silently missed any
caller that derived ``t`` arithmetically (e.g. ``frame_idx / fps``)
even though the parquet timestamp would only differ by ULPs. Added
``EMITTED_AT_TOLERANCE_S = 0.1`` and check ``abs(...) <= tolerance``
instead, with a docstring explaining why exact equality wasn't
enough and why 0.1 s is safe at typical 30–100 Hz control rates.
Test asserts the new behavior at half-window (matches) and
double-window (no match) using the constant so it stays in sync.
* **`MessageTurn.stream` is required at construction.** It was typed
``MessageStream | None = None`` so YAML could omit ``stream:`` and
pass the dataclass invariant — but ``_validate_rendered`` rejected
``None`` streams later, surfacing the error at the first sample
instead of at recipe load. Now ``__post_init__`` raises
``ValueError`` if ``stream`` is ``None``, with the list of valid
streams in the message. The redundant late-stage check in
``_validate_rendered`` is replaced with a one-line comment that
cites the upstream invariant. Test pins the new construction-time
rejection.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* docs(tools): drop follow-up-PR references
Reword the two callouts in `tools.mdx` to describe the runtime layer
in present tense ("not part of the catalog layer shipped today",
"those modules don't yet exist in the tree") instead of pointing at a
specific follow-up PR. Keeps the doc honest about what works now
without coupling it to a particular release order.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* review: address CarolinePascal feedback
- language timestamps: float64 -> float32 to match LeRobotDataset frame
timestamps (Arrow struct + HF feature)
- dataset_metadata: hoist `.language` imports to module top — language.py
has no lerobot imports, so there is no circular-import risk
- dataset_metadata: add a `meta.tools` setter that persists the catalog to
info.json and reloads `meta.info`
- feature_utils: validate the `language` dtype instead of returning "" —
warn (non-fatal) when a non-empty value is written at record time
- centralize the scalar-unwrap helper as `lerobot.utils.utils.unwrap_scalar`,
shared by render_messages_processor and language_render
- docs: move `## Layer 2 — recipe anatomy` ahead of the resolver sections,
which describe recipe bindings rather than dataset layout
- language_render: note in EMITTED_AT_TOLERANCE_S that persistent rows change
on a human-action timescale, not the camera frame rate
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---------
Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Port the steerable-pipeline refinements developed on feat/smolvla-on-
steerable back into the annotation pipeline itself:
- module_1_subtasks: imperative verb-first telegraphic labels with a
consistent-object-noun rule and good/bad examples (no hard word cap).
- _generate_plan: drop the VLM round-trip; the plan is now a
deterministic numbered list of still-todo subtasks, re-emitted at
every subtask boundary so it shrinks as work progresses. Removes
module_1_plan.txt.
- VqaConfig.K 3 -> 1: a VQA pair anchors exactly its emission frame, no
stale-label temporal smear.
- lerobot-annotate: tag the pushed dataset with its codebase_version so
LeRobotDataset can resolve a revision and load it.
- module_2_interjection: shorter, more natural mid-task cues.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Select only supervised text and FAST action-code positions before cross-entropy to avoid full-vocabulary loss tensors over padded sequences.
Co-authored-by: Cursor <cursoragent@cursor.com>
* feat(robots): natively integrate Seeed Studio reBot B601-DM arm
Add first-class LeRobot support for the Seeed Studio reBot arm, replacing
the out-of-tree `lerobot-robot-seeed-b601` / `lerobot-teleoperator-rebot-arm-102`
plugin packages.
New devices:
- robot `rebot_b601_follower` — single-arm B601-DM follower (6-DOF + gripper,
Damiao CAN motors via `motorbridge`)
- robot `bi_rebot_b601_follower` — bimanual follower composing two single arms
- teleoperator `rebot_102_leader` — single-arm StarArm102 / reBot Arm 102 leader
(FashionStar UART servos via `motorbridge-smart-servo`)
- teleoperator `bi_rebot_102_leader` — bimanual leader composing two single arms
The bimanual variants reuse the single-arm classes and namespace each arm's
observation/action keys with `left_` / `right_` prefixes, so a bimanual
StarArm102 leader can teleoperate a bimanual reBot B601 follower.
Optional SDK imports are guarded; a `rebot` extra installs `motorbridge` and
`motorbridge-smart-servo`.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* docs: add reBot B601-DM calibration & dual-arm teleoperation guide
Add docs/source/rebot_b601.mdx covering single-arm and bimanual
calibration and teleoperation for the reBot B601-DM follower and
reBot Arm 102 leader, with zero-position reference images from the
Seeed Studio wiki. Register the page in the docs toctree.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* docs: fix reBot B601 MDX build (move JSON example out of <Tip>)
The doc-builder parses `{...}` inside MDX component children as a
Svelte expression, so the joint_directions JSON example broke the
build. Move it into a top-level fenced code block.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* docs: apply prettier formatting to reBot B601 page
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* docs: remove duplicate colocated reBot B601 page
docs/source/rebot_b601.mdx is the canonical, toctree-registered page;
the colocated rebot_b601.md was a redundant thinner copy.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* docs: clarify 6-DOF leader fallback comment in reBot B601 follower
Explain that holding wrist_yaw at zero is what lets a 6-DOF leader
(e.g. so100_leader / so101_leader) teleoperate the 7-DOF follower.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
* refactor: address Caroline's PR review on reBot B601 integration
- leader: remove _validate_config (no other lerobot device validates its
config; a key mismatch now surfaces as a plain KeyError)
- leader: simplify _round_to_valid_range to direct modular arithmetic
instead of a bidirectional search loop
- leader: inline the single-use _clamp helper
- follower & leader: write MotorCalibration range_min/range_max from the
configured joint_limits / joint_ranges instead of a fixed [-90, 90]
- docs: add a "Find the USB ports" section (lerobot-find-port) and move
the brltty/permissions tip there; link the OpenArm page for SocketCAN
adapter configuration
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---------
Co-authored-by: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Tokenize batched recipe outputs in PI052 so training batches with nested message lists do not crash before model forward.
Co-authored-by: Cursor <cursoragent@cursor.com>
Mask the FAST auxiliary loss to discrete action-code tokens so wrapper formatting tokens do not affect action co-training.
Co-authored-by: Cursor <cursoragent@cursor.com>
PyAV segfaulted (exit 139) decoding the AV1 streams modern LeRobot
datasets use — a SIGSEGV that the per-episode try/except cannot catch,
killing the whole job when the interjections phase started.
Replace the PyAV fallback with _decode_frames_ffmpeg, which shells out
to the ffmpeg CLI: a full ffmpeg build decodes AV1, and a child-process
crash is a catchable non-zero exit rather than a segfault. Decoder chain
is now torchcodec -> ffmpeg. _decode_frames_av stays available behind
video_backend="pyav" for callers that want it.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
- hirobot.yaml -> subtasks_vqa.yaml
- hirobot_memory.yaml -> subtask_mem_vqa_speech.yaml
- pi05_hirobot.yaml -> deleted (stale: uses plan, top-camera names;
superseded by the two recipes above)
- smolvla2_hirobot.yaml -> deleted (was untracked stale junk)
Updated the smolvla2 / pi052 `recipe_path` config defaults, all
docstring / comment references, the annotation-pipeline + recipe docs,
and the three tests that loaded pi05_hirobot.yaml (repointed to the
renamed recipes; the low-level-branch and pipeline-render assertions
now accept a flow-only `low_level` stream as valid supervision, since
the new recipes' low_level_execution has no text-CE target).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The pyav fallback routed through lerobot's decode_video_frames(backend=
"pyav"), which uses torchvision.io.VideoReader — removed in torchvision
0.23+. On modern torch stacks (e.g. vllm-openai with torchvision 0.26)
both torchcodec and that path fail, leaving interjection/vqa prompts
without visual context.
Add _decode_frames_av: a self-contained PyAV decoder that picks the
nearest frame per timestamp. It is the always-available tail of the
decoder chain (torchcodec -> pyav) and the target of --video_backend=pyav.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
pi052 had the same text-CE collapse bug smolvla2 had — PaliGemma's
embed_prefix flags the language block att=0, so make_att_2d_masks makes
it fully bidirectional and the text cross-entropy degenerates into a
copy task. Ported the three model-specific fixes:
- _mark_target_span_causal: set att=1 on supervised target language
positions so the text-CE is genuine causal next-token prediction.
Applied in both _compute_all_losses_fused and _compute_text_and_fast_loss.
- flow_loss_weight 10.0 -> 5.0: the paper's a=10 swamps the LM head once
the flow-only low_level recipe fires often (matches SmolVLA2Config).
- _flatten_say_tool_calls in the text tokenizer: serialize `say` tool
calls into a <say>...</say> marker so the spoken reply is tokenized
and supervised (PaliGemma's flat prompt has no structured calls, so
they were dropped entirely).
select_message needed no change: pi052's prefix is [images, language]
with no trailing state token, so it already decodes from the last
language token.
Regression tests mirror the smolvla2 attention-masking + tool-call suite.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
pepijn223