 Pepijn
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4fa9578e3d
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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>
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2026-07-02 14:16:41 +02:00 |
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