- name the three modules everywhere (plan / interjections / vqa) instead
of module_1/2/3 — config classes, config fields, executor params,
staging keys and phase names now carry the module name
- rename examples/annotation -> examples/annotations; add the Apache
header to run_hf_job.py
- drop the unused GeneralVqaModule._generate_one
- remove "PR 1" references from comments/docstrings
- frames.py: rely on the always-defined LeRobotDatasetMetadata.camera_keys
- executor.py: read/write meta/info.json via load_info / write_info
- reader.py: load meta/tasks.parquet via io_utils.load_tasks
- make --push_to_hub a bool; push the annotated dataset back to --repo_id
- move the on-disk test dataset builder into tests/fixtures
(build_annotation_dataset); run_e2e_smoke reuses it
- clarify in the docs that the vqa module grounds each pair on a single
frame (K = per-tick anchor count)
- hoist stdlib dynamic imports to module scope
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Ensure annotated datasets advertise language columns in meta/info.json so non-streaming dataset loads cast against the rewritten parquet schema.
Co-authored-by: Cursor <cursoragent@cursor.com>
PR 2 used to write a top-level ``tools`` column on every parquet shard
holding the JSON schema for the ``say`` tool, broadcast identically
across every row. That extends PR 1's schema for no real information
gain — the schema is a fixed code constant, parquet's RLE/dict encoding
collapses it on disk anyway, and HF/TRL chat-template consumers can
just import the constant directly.
PR 2 should fill in PR 1's existing schema, not add to it. So:
- ``writer.py``: stop emitting the ``tools`` column. Strip any legacy
``tools`` column from older shards on rerun so the schema converges to
v3.1. ``SAY_TOOL_SCHEMA`` stays as a public constant (now joined by
``DEFAULT_TOOLS = [SAY_TOOL_SCHEMA]``); chat-template policies and the
visualizer import them directly.
- ``test_writer.py``: replace the "tools column present" assertion with
one that explicitly checks the column is absent, plus a new test
asserting the constant's shape.
- ``test_pipeline_recipe_render.py``: drop the tools-column read; assert
it's not present in the rewritten parquet.
- ``annotation_pipeline.mdx``: update the writer description to note the
parquet stays small and the schema lives as a code constant.
If multi-tool-set support ever becomes real (datasets with different
tool inventories), the right home is ``meta/info.json["tools"]`` —
adding it later is non-breaking; ripping out a parquet column already
shipped is not.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Pepijn Kooijmans