refactor: consolidate VLM classes into single QwenVL implementation

Remove Qwen2VL, Qwen3VL, Qwen35VL in favor of one QwenVL class that
uses AutoModelForImageTextToText and works with the whole Qwen VL
family. Moves shared _parse_skills_response to BaseVLM and extracts
_build_messages/_prepare_inputs/_decode helpers to reduce duplication.

Made-with: Cursor

docs/source/il_robots.mdx

@@ -165,7 +165,7 @@ hf auth login --token ${HUGGINGFACE_TOKEN} --add-to-git-credential
 Then store your Hugging Face repository name in a variable:
 
 ```bash
-HF_USER=$(hf auth whoami | awk -F': *' 'NR==1 {print $2}')
+HF_USER=$(NO_COLOR=1 hf auth whoami | awk -F': *' 'NR==1 {print $2}')
 echo $HF_USER
 ```
 

docs/source/unitree_g1.mdx

@@ -12,36 +12,59 @@ The Unitree G1 humanoid is now supported in LeRobot! You can teleoperate, train
 
 ## Part 1: Getting Started
 
-### Install LeRobot on Your Machine
+### Install the Unitree SDK
+
+Follow the [unitree_sdk2_python installation guide](https://github.com/unitreerobotics/unitree_sdk2_python#installation). Tested with `unitree_sdk2py==1.0.1` and `cyclonedds==0.10.2`:
 
 ```bash
 conda create -y -n lerobot python=3.12
 conda activate lerobot
 git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
-cd unitree_sdk2_python && pip install -e .
+cd unitree_sdk2_python
+pip install -e .
+cd ..
+```
+
+### Install LeRobot
+
+```bash
+conda install ffmpeg -c conda-forge
+conda install -c conda-forge "pinocchio>=3.0.0,<4.0.0"
 git clone https://github.com/huggingface/lerobot.git
 cd lerobot
 pip install -e '.[unitree_g1]'
 ```
 
+<Tip>
+  For now, pinocchio must be installed from conda-forge (not pip) to include the
+  CasADi bindings needed for arm IK.
+</Tip>
+
 ### Test the Installation (Simulation)
 
+The simulation environment has its own dependencies. Check the Simulation environment dependencies: [Unitree G1 Mujoco EnvHub](https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main).
+
+```bash
+pip install mujoco loguru msgpack msgpack-numpy
+```
+
 ```bash
 lerobot-teleoperate \
   --robot.type=unitree_g1 \
   --robot.is_simulation=true \
   --teleop.type=unitree_g1 \
   --teleop.id=wbc_unitree \
-  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30}}' \
-  --display_data=true
+  --robot.cameras='{"global_view": {"type": "zmq", "server_address": "localhost", "port": 5555, "camera_name": "head_camera", "width": 640, "height": 480, "fps": 30, "warmup_s": 5}}' \
+  --display_data=true \
+  --robot.controller=GrootLocomotionController
 ```
 
-This will launch a [MuJoCo sim instance](https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main) for the G1.
+This will launch a [MuJoCo sim instance](https://huggingface.co/lerobot/unitree-g1-mujoco/tree/main) for the G1. You can connect a gamepad to your machine before launching in order to control the robot's locomotion in sim. We support both [HolosomaLocomotionController](https://github.com/amazon-far/holosoma) and [GrootLocomotionController](https://github.com/NVlabs/GR00T-WholeBodyControl) via `--robot.controller`.
 
 - Press `9` to release the robot
 - Press `7` / `8` to increase / decrease waist height
 
-### Connect to the Robot
+### Connect to the Physical Robot
 
 The G1's Ethernet IP is fixed at `192.168.123.164`. Your machine must have a static IP on the same subnet: `192.168.123.x` where `x ≠ 164`.
 
@@ -59,37 +82,11 @@ ssh unitree@192.168.123.164
 # Password: 123
 ```
 
-### Install LeRobot on the G1
+### Share Internet via Ethernet
 
-From the robot:
+The G1 needs internet access to clone repos and install packages. Share your laptop's connection over Ethernet:
 
-```bash
-conda create -y -n lerobot python=3.12
-conda activate lerobot
-git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
-cd unitree_sdk2_python && pip install -e .
-git clone https://github.com/huggingface/lerobot.git
-cd lerobot
-pip install -e '.[unitree_g1]'
-```
-
-> **Note:** The Unitree SDK requires CycloneDDS v0.10.2. See the [Unitree SDK docs](https://github.com/unitreerobotics/unitree_sdk2_python) for details.
-
----
-
-## Part 2: Enable WiFi on the Robot
-
-Wi-Fi connectivity is blocked by default on the G1. To activate:
-
-```bash
-sudo rfkill unblock all
-sudo ip link set wlan0 up
-sudo nmcli radio wifi on
-sudo nmcli device set wlan0 managed yes
-sudo systemctl restart NetworkManager
-```
-
-**On your laptop** (share internet via Ethernet):
+**On your laptop:**
 
 ```bash
 sudo sysctl -w net.ipv4.ip_forward=1
@@ -100,7 +97,7 @@ sudo iptables -A FORWARD -i wlp132s0f0 -o enp131s0 -m state --state RELATED,ESTA
 sudo iptables -A FORWARD -i enp131s0 -o wlp132s0f0 -j ACCEPT
 ```
 
-**On the G1** (set default route through your laptop):
+**On the G1:**
 
 ```bash
 sudo ip route del default 2>/dev/null || true
@@ -111,6 +108,45 @@ echo "nameserver 8.8.8.8" | sudo tee /etc/resolv.conf
 ping -c 3 8.8.8.8
 ```
 
+### Install the Unitree SDK on the G1
+
+Follow the [unitree_sdk2_python installation guide](https://github.com/unitreerobotics/unitree_sdk2_python#installation):
+
+```bash
+conda create -y -n lerobot python=3.12
+conda activate lerobot
+git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
+cd unitree_sdk2_python
+python -m pip install -e .
+cd ..
+```
+
+### Install LeRobot on the G1
+
+```bash
+git clone https://github.com/huggingface/lerobot.git
+cd lerobot
+conda install -c conda-forge "pinocchio>=3.0.0,<4.0.0"
+python -m pip install -e '.[unitree_g1]'
+```
+
+<Tip>
+  For now, pinocchio must be installed from conda-forge (not pip) to include the
+  CasADi bindings needed for arm IK.
+</Tip>
+
+### (Optional) Enable WiFi on the Robot
+
+For wireless SSH access, you can enable WiFi on the G1 (it's blocked by default):
+
+```bash
+sudo rfkill unblock all
+sudo ip link set wlan0 up
+sudo nmcli radio wifi on
+sudo nmcli device set wlan0 managed yes
+sudo systemctl restart NetworkManager
+```
+
 **Connect to a WiFi network:**
 
 ```bash
@@ -125,7 +161,7 @@ sudo nmcli connection up "YourNetwork"
 ip a show wlan0
 ```
 
-You can now SSH over WiFi:
+You can then SSH over WiFi instead of Ethernet:
 
 ```bash
 ssh unitree@<ROBOT_WIFI_IP>
@@ -134,18 +170,23 @@ ssh unitree@<ROBOT_WIFI_IP>
 
 ---
 
-## Part 3: Teleoperation & Locomotion
+## Part 2: Teleoperation & Locomotion
 
 ### Run the Robot Server
 
-On the robot:
+On the robot (from `~/lerobot`):
 
 ```bash
+cd ~/lerobot
 python src/lerobot/robots/unitree_g1/run_g1_server.py --camera
 ```
 
 ### Run the Locomotion Policy
 
+You can run the teleoperation client from your laptop over Ethernet, over WiFi (experimental), or directly on the robot itself. Mind potential latency introduced by your network.
+
+**From your laptop:**
+
 ```bash
 lerobot-teleoperate \
   --robot.type=unitree_g1 \
@@ -158,13 +199,13 @@ lerobot-teleoperate \
   --robot.controller=HolosomaLocomotionController
 ```
 
-We support both [HolosomaLocomotionController](https://github.com/amazon-far/holosoma) and [GrootLocomotionController](https://github.com/NVlabs/GR00T-WholeBodyControl).
+We support both [GrootLocomotionController](https://github.com/NVlabs/GR00T-WholeBodyControl) and [HolosomaLocomotionController](https://github.com/amazon-far/holosoma) via `--robot.controller`.
 
 ---
 
-## Part 4: Loco-Manipulation with the Homunculus Exoskeleton
+## Part 3: Loco-Manipulation with the Homunculus Exoskeleton
 
-We provide a loco-manipulation solution via the Homunculus Exoskeleton — an open-source 7 DoF exoskeleton for whole-body control. Assembly instructions [here](https://github.com/nepyope/hmc_exo).
+We provide a loco-manipulation solution via the Homunculus Exoskeleton — an open-source 7 DoF exoskeleton for whole-body control. Check it out [here](https://github.com/nepyope/hmc_exo).
 
 ### Calibrate
 
@@ -205,7 +246,7 @@ Example dataset: [nepyope/unitree_box_move_blue_full](https://huggingface.co/dat
 
 ---
 
-## Part 5: Training & Inference
+## Part 4: Training & Inference
 
 ### Train
 

pyproject.toml

@@ -25,7 +25,7 @@ discord = "https://discord.gg/s3KuuzsPFb"
 
 [project]
 name = "lerobot"
-version = "0.4.5"
+version = "0.5.1"
 description = "🤗 LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch"
 dynamic = ["readme"]
 license = { text = "Apache-2.0" }
@@ -76,7 +76,7 @@ dependencies = [
     "torchvision>=0.21.0,<0.26.0",
 
     "einops>=0.8.0,<0.9.0",
-    "opencv-python-headless>=4.9.0,<4.13.0",
+    "opencv-python-headless>=4.9.0,<4.14.0",
     "av>=15.0.0,<16.0.0",
     "jsonlines>=4.0.0,<5.0.0",
     "pynput>=1.7.8,<1.9.0",
@@ -100,7 +100,7 @@ dependencies = [
 pygame-dep = ["pygame>=2.5.1,<2.7.0"]
 placo-dep = ["placo>=0.9.6,<0.9.17"]
 transformers-dep = ["transformers>=5.3.0,<6.0.0"]
-grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.34.0"]
+grpcio-dep = ["grpcio==1.73.1", "protobuf>=6.31.1,<6.32.0"]
 can-dep = ["python-can>=4.2.0,<5.0.0"]
 peft-dep = ["peft>=0.18.0,<1.0.0"]
 scipy-dep = ["scipy>=1.14.0,<2.0.0"]
@@ -119,14 +119,13 @@ gamepad = ["lerobot[pygame-dep]", "hidapi>=0.14.0,<0.15.0"]
 hopejr = ["lerobot[feetech]", "lerobot[pygame-dep]"]
 lekiwi = ["lerobot[feetech]", "pyzmq>=26.2.1,<28.0.0"]
 unitree_g1 = [
-    "unitree-sdk2==1.0.1",
+    # "unitree-sdk2==1.0.1",
     "pyzmq>=26.2.1,<28.0.0",
     "onnxruntime>=1.16.0,<2.0.0",
-    "pin>=3.0.0,<4.0.0",
+    "onnx>=1.16.0,<2.0.0",
     "meshcat>=0.3.0,<0.4.0",
     "lerobot[matplotlib-dep]",
     "lerobot[pygame-dep]",
-    "casadi>=3.6.0,<4.0.0",
 ]
 reachy2 = ["reachy2_sdk>=1.0.15,<1.1.0"]
 kinematics = ["lerobot[placo-dep]"]
@@ -223,6 +222,7 @@ lerobot-eval="lerobot.scripts.lerobot_eval:main"
 lerobot-train="lerobot.scripts.lerobot_train:main"
 lerobot-train-tokenizer="lerobot.scripts.lerobot_train_tokenizer:main"
 lerobot-dataset-viz="lerobot.scripts.lerobot_dataset_viz:main"
+lerobot-dataset-subtask-annotate="lerobot.scripts.lerobot_subtask_annotate:main"
 lerobot-info="lerobot.scripts.lerobot_info:main"
 lerobot-find-joint-limits="lerobot.scripts.lerobot_find_joint_limits:main"
 lerobot-imgtransform-viz="lerobot.scripts.lerobot_imgtransform_viz:main"

src/lerobot/data_processing/data_annotations/__init__.py

@@ -0,0 +1,2 @@
+# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
+# Data annotations for subtasks and VLM-based labeling.

src/lerobot/data_processing/data_annotations/subtask_annotations.py

@@ -0,0 +1,671 @@
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import json
+import subprocess
+import tempfile
+from pathlib import Path
+from typing import TYPE_CHECKING
+
+import cv2
+
+from lerobot.datasets.dataset_tools import add_features
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.utils import (
+    create_subtask_index_array,
+    create_subtasks_dataframe,
+    save_subtasks,
+)
+
+if TYPE_CHECKING:
+    from lerobot.data_processing.data_annotations.vlm_annotations import BaseVLM
+
+
+# Skill Annotation Data Structures
+class Skill:
+    """Represents a single atomic skill/subtask in a demonstration."""
+
+    def __init__(self, name: str, start: float, end: float):
+        self.name = name
+        self.start = start  # Start timestamp in seconds
+        self.end = end  # End timestamp in seconds
+
+    def to_dict(self) -> dict:
+        return {"name": self.name, "start": self.start, "end": self.end}
+
+    @classmethod
+    def from_dict(cls, data: dict) -> "Skill":
+        return cls(name=data["name"], start=data["start"], end=data["end"])
+
+    def __repr__(self) -> str:
+        return f"Skill(name='{self.name}', start={self.start:.2f}, end={self.end:.2f})"
+
+
+class EpisodeSkills:
+    """Container for all skills in an episode."""
+
+    def __init__(self, episode_index: int, description: str, skills: list[Skill]):
+        self.episode_index = episode_index
+        self.description = description
+        self.skills = skills
+
+    def to_dict(self) -> dict:
+        return {
+            "episode_index": self.episode_index,
+            "description": self.description,
+            "skills": [s.to_dict() for s in self.skills],
+        }
+
+
+# Video Extraction Utilities
+
+
+class VideoExtractor:
+    """Utilities for extracting and processing video segments from LeRobot datasets."""
+
+    def __init__(self) -> None:
+        pass
+
+    def extract_episode_video(
+        self,
+        video_path: Path,
+        start_timestamp: float,
+        end_timestamp: float,
+        target_fps: int = 1,
+    ) -> Path:
+        """
+        Extract a specific episode segment from a concatenated video file.
+
+        Args:
+            video_path: Path to the source video file
+            start_timestamp: Start time in seconds
+            end_timestamp: End time in seconds
+            target_fps: Target frames per second for output
+
+        Returns:
+            Path to the extracted temporary video file
+        """
+        with tempfile.NamedTemporaryFile(suffix=".mp4", delete=False) as tmp_file:
+            tmp_path = Path(tmp_file.name)
+
+        duration = end_timestamp - start_timestamp
+
+        print(f"Extracting: {start_timestamp:.1f}s - {end_timestamp:.1f}s ({duration:.1f}s)")
+
+        cmd = [
+            "ffmpeg",
+            "-i",
+            str(video_path),
+            "-ss",
+            str(start_timestamp),
+            "-t",
+            str(duration),
+            "-r",
+            str(target_fps),
+            "-c:v",
+            "libx264",
+            "-preset",
+            "ultrafast",
+            "-crf",
+            "23",
+            "-an",
+            "-y",
+            str(tmp_path),
+        ]
+
+        try:
+            subprocess.run(cmd, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, check=True)
+        except subprocess.CalledProcessError as e:
+            raise RuntimeError(f"FFmpeg failed: {e}") from e
+        except FileNotFoundError as e:
+            raise RuntimeError("FFmpeg not found. Please install ffmpeg.") from e
+
+        if not tmp_path.exists() or tmp_path.stat().st_size < 1024:
+            if tmp_path.exists():
+                tmp_path.unlink()
+            raise RuntimeError("Video extraction produced invalid file")
+
+        return tmp_path
+
+    def add_timer_overlay(self, video_path: Path) -> Path:
+        """
+        Add a visible timer overlay to each frame (elapsed time in seconds) in one corner.
+        Used so the VLM can read the timestamp from the image instead of relying on file metadata.
+        Draws a black box with white text at top-right. Writes to a new temporary file and returns its path.
+        """
+        with tempfile.NamedTemporaryFile(suffix=".mp4", delete=False) as out_file:
+            out_path = Path(out_file.name)
+
+        cap = cv2.VideoCapture(str(video_path))
+        if not cap.isOpened():
+            raise RuntimeError("Failed to open video")
+
+        fps = cap.get(cv2.CAP_PROP_FPS) or 1.0
+        w = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
+        h = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+        fourcc = cv2.VideoWriter_fourcc(*"mp4v")
+        writer = cv2.VideoWriter(str(out_path), fourcc, fps, (w, h))
+
+        font = cv2.FONT_HERSHEY_SIMPLEX
+        font_scale = max(1.2, min(h, w) / 350.0)
+        thickness = max(2, int(font_scale))
+
+        padding = 15
+        margin = 30
+
+        frame_idx = 0
+        while True:
+            ret, frame = cap.read()
+            if not ret:
+                break
+
+            t_sec = frame_idx / fps
+            text = f"{t_sec:.2f} s"
+
+            (tw, th), baseline = cv2.getTextSize(text, font, font_scale, thickness)
+
+            # Top-right placement
+            x_text = w - tw - margin - padding
+            y_text = margin + th + padding
+
+            # Rectangle coordinates (black box behind text)
+            x1 = x_text - padding
+            y1 = y_text - th - padding
+            x2 = x_text + tw + padding
+            y2 = y_text + baseline + padding
+
+            # Draw black filled rectangle
+            cv2.rectangle(frame, (x1, y1), (x2, y2), (0, 0, 0), -1)
+
+            # Draw white text
+            cv2.putText(
+                frame,
+                text,
+                (x_text, y_text),
+                font,
+                font_scale,
+                (255, 255, 255),
+                thickness,
+                lineType=cv2.LINE_AA,
+            )
+
+            writer.write(frame)
+            frame_idx += 1
+
+        cap.release()
+        writer.release()
+        if not out_path.exists() or out_path.stat().st_size < 1024:
+            if out_path.exists():
+                out_path.unlink()
+            raise RuntimeError("Timer overlay produced invalid file")
+        return out_path
+
+    def get_video_duration(self, video_path: Path) -> float:
+        """Get duration of a video file in seconds."""
+        cap = cv2.VideoCapture(str(video_path))
+        fps = cap.get(cv2.CAP_PROP_FPS) or 30
+        frame_count = int(cap.get(cv2.CAP_PROP_FRAME_COUNT))
+        cap.release()
+        return frame_count / fps
+
+
+# Skill Annotation Pipeline
+class SkillAnnotator:
+    """
+    Main class for annotating LeRobot datasets with skill labels.
+
+    This class orchestrates the full annotation pipeline:
+    1. Load dataset
+    2. Extract video segments for each episode
+    3. Run VLM-based skill segmentation
+    4. Update dataset task metadata
+    """
+
+    def __init__(
+        self,
+        vlm: "BaseVLM",
+        video_extractor: VideoExtractor | None = None,
+        batch_size: int = 8,
+        add_timer_overlay: bool = True,
+    ):
+        self.vlm = vlm
+        self.video_extractor = video_extractor or VideoExtractor()
+        self.batch_size = batch_size
+        self.add_timer_overlay = add_timer_overlay
+
+    def annotate_dataset(
+        self,
+        dataset: LeRobotDataset,
+        video_key: str,
+        episodes: list[int] | None = None,
+        skip_existing: bool = False,
+        subtask_labels: list[str] | None = None,
+    ) -> dict[int, EpisodeSkills]:
+        """
+        Annotate all episodes in a dataset with skill labels using batched processing.
+
+        Args:
+            dataset: LeRobot dataset to annotate
+            video_key: Key for video observations (e.g., "observation.images.base")
+            episodes: Specific episode indices to annotate (None = all)
+            skip_existing: Skip episodes that already have skill annotations
+            subtask_labels: If provided, model must choose only from these labels (closed vocabulary)
+
+        Returns:
+            Dictionary mapping episode index to EpisodeSkills
+        """
+        episode_indices = episodes or list(range(dataset.meta.total_episodes))
+        annotations: dict[int, EpisodeSkills] = {}
+        failed_episodes: dict[int, str] = {}  # Track failed episodes with error messages
+
+        # Get coarse task description if available
+        coarse_goal = self._get_coarse_goal(dataset)
+
+        # Filter out episodes that already have annotations if skip_existing is True
+        if skip_existing:
+            existing_annotations = load_skill_annotations(dataset.root)
+            if existing_annotations and "episodes" in existing_annotations:
+                # Only skip episodes that exist AND have non-empty skills
+                existing_episode_indices = set()
+                for idx_str, episode_data in existing_annotations["episodes"].items():
+                    idx = int(idx_str)
+                    # Check if skills list exists and is not empty
+                    if "skills" in episode_data and episode_data["skills"]:
+                        existing_episode_indices.add(idx)
+
+                original_count = len(episode_indices)
+                episode_indices = [ep for ep in episode_indices if ep not in existing_episode_indices]
+                skipped_count = original_count - len(episode_indices)
+                if skipped_count > 0:
+                    print(f"Skipping {skipped_count} episodes with existing non-empty annotations")
+
+        if not episode_indices:
+            print("No episodes to annotate (all already annotated)")
+            return annotations
+
+        print(f"Annotating {len(episode_indices)} episodes in batches of {self.batch_size}...")
+
+        # Process episodes in batches
+        for batch_start in range(0, len(episode_indices), self.batch_size):
+            batch_end = min(batch_start + self.batch_size, len(episode_indices))
+            batch_episodes = episode_indices[batch_start:batch_end]
+
+            print(
+                f"Processing batch {batch_start // self.batch_size + 1}/{(len(episode_indices) + self.batch_size - 1) // self.batch_size} (episodes {batch_episodes[0]} to {batch_episodes[-1]})..."
+            )
+
+            try:
+                batch_annotations = self._annotate_episodes_batch(
+                    dataset, batch_episodes, video_key, coarse_goal, subtask_labels
+                )
+
+                for ep_idx in batch_episodes:
+                    if ep_idx in batch_annotations and batch_annotations[ep_idx]:
+                        skills = batch_annotations[ep_idx]
+                        annotations[ep_idx] = EpisodeSkills(
+                            episode_index=ep_idx,
+                            description=coarse_goal,
+                            skills=skills,
+                        )
+                        print(f" Episode {ep_idx}: {len(skills)} skills identified")
+                    else:
+                        failed_episodes[ep_idx] = "Empty or missing skills from batch processing"
+                        print(f"⚠ Episode {ep_idx}: No skills extracted, will retry")
+            except Exception as e:
+                print(f"✗ Batch failed: {e}. Falling back to single-episode processing...")
+                # Fallback: process episodes one by one
+                for ep_idx in batch_episodes:
+                    try:
+                        skills = self._annotate_episode(
+                            dataset, ep_idx, video_key, coarse_goal, subtask_labels
+                        )
+                        if skills:
+                            annotations[ep_idx] = EpisodeSkills(
+                                episode_index=ep_idx,
+                                description=coarse_goal,
+                                skills=skills,
+                            )
+                            print(f" Episode {ep_idx}: {len(skills)} skills identified")
+                        else:
+                            failed_episodes[ep_idx] = "Empty skills list from single-episode processing"
+                            print(f"⚠ Episode {ep_idx}: No skills extracted, will retry")
+                    except Exception as ep_error:
+                        failed_episodes[ep_idx] = str(ep_error)
+                        print(f"⚠ Episode {ep_idx} failed: {ep_error}, will retry")
+
+        # Retry failed episodes one more time
+        if failed_episodes:
+            print(f"\nRetrying {len(failed_episodes)} failed episodes...")
+            retry_count = 0
+            for ep_idx, error_msg in list(failed_episodes.items()):
+                print(f"Retry attempt for episode {ep_idx} (previous error: {error_msg})")
+                try:
+                    skills = self._annotate_episode(dataset, ep_idx, video_key, coarse_goal, subtask_labels)
+                    if skills:
+                        annotations[ep_idx] = EpisodeSkills(
+                            episode_index=ep_idx,
+                            description=coarse_goal,
+                            skills=skills,
+                        )
+                        print(f" Episode {ep_idx} (retry): {len(skills)} skills identified")
+                        del failed_episodes[ep_idx]
+                        retry_count += 1
+                    else:
+                        print(f"✗ Episode {ep_idx} (retry): Still no skills extracted")
+                except Exception as retry_error:
+                    failed_episodes[ep_idx] = str(retry_error)
+                    print(f"✗ Episode {ep_idx} (retry) failed: {retry_error}")
+
+            if retry_count > 0:
+                print(f"Successfully recovered {retry_count} episodes on retry")
+
+            if failed_episodes:
+                print(f"\n⚠ Warning: {len(failed_episodes)} episodes still failed after retry:")
+                for ep_idx, error_msg in failed_episodes.items():
+                    print(f"  Episode {ep_idx}: {error_msg}")
+
+        return annotations
+
+    def _get_coarse_goal(self, dataset: LeRobotDataset) -> str:
+        """Extract or generate the coarse task description."""
+        # Try to get from existing task metadata
+        if dataset.meta.tasks is not None and len(dataset.meta.tasks) > 0:
+            # Get the first task description
+            first_task = dataset.meta.tasks.index[0]
+            if first_task:
+                return str(first_task)
+
+        return "Perform the demonstrated manipulation task."
+
+    def _annotate_episodes_batch(
+        self,
+        dataset: LeRobotDataset,
+        episode_indices: list[int],
+        video_key: str,
+        coarse_goal: str,
+        subtask_labels: list[str] | None = None,
+    ) -> dict[int, list[Skill]]:
+        """Annotate multiple episodes with skill labels in a batch."""
+        # Extract all videos for this batch
+        extracted_paths = []
+        timer_paths = []
+        paths_for_vlm = []
+        durations = []
+        valid_episode_indices = []
+
+        for ep_idx in episode_indices:
+            try:
+                # Get video path and timestamps
+                video_path = dataset.root / dataset.meta.get_video_file_path(ep_idx, video_key)
+
+                if not video_path.exists():
+                    print(f"Warning: Video not found for episode {ep_idx}")
+                    continue
+
+                # Get episode timestamps from metadata
+                ep = dataset.meta.episodes[ep_idx]
+                start_ts = float(ep[f"videos/{video_key}/from_timestamp"])
+                end_ts = float(ep[f"videos/{video_key}/to_timestamp"])
+                duration = end_ts - start_ts
+
+                # Extract episode segment to temporary file
+                extracted_path = self.video_extractor.extract_episode_video(
+                    video_path, start_ts, end_ts, target_fps=dataset.meta.fps
+                )
+
+                if self.add_timer_overlay:
+                    video_for_vlm = self.video_extractor.add_timer_overlay(extracted_path)
+                    extracted_paths.append(extracted_path)
+                    timer_paths.append(video_for_vlm)
+                else:
+                    video_for_vlm = extracted_path
+                    extracted_paths.append(extracted_path)
+                    timer_paths.append(None)
+
+                paths_for_vlm.append(video_for_vlm)
+                durations.append(duration)
+                valid_episode_indices.append(ep_idx)
+
+            except Exception as e:
+                print(f"Warning: Failed to extract video for episode {ep_idx}: {e}")
+                continue
+
+        if not paths_for_vlm:
+            return {}
+
+        try:
+            # Run VLM skill segmentation in batch
+            all_skills = self.vlm.segment_skills_batch(paths_for_vlm, durations, coarse_goal, subtask_labels)
+
+            # Map results back to episode indices
+            results = {}
+            for ep_idx, skills in zip(valid_episode_indices, all_skills, strict=True):
+                results[ep_idx] = skills
+
+            return results
+
+        finally:
+            # Clean up all temporary files (extracted and timer-overlay)
+            for path in extracted_paths:
+                if path.exists():
+                    path.unlink()
+            for path in timer_paths:
+                if path is not None and path.exists():
+                    path.unlink()
+
+    def _annotate_episode(
+        self,
+        dataset: LeRobotDataset,
+        episode_index: int,
+        video_key: str,
+        coarse_goal: str,
+        subtask_labels: list[str] | None = None,
+    ) -> list[Skill]:
+        """Annotate a single episode with skill labels."""
+        # Get video path and timestamps for this episode
+        video_path = dataset.root / dataset.meta.get_video_file_path(episode_index, video_key)
+
+        if not video_path.exists():
+            raise FileNotFoundError(f"Video not found: {video_path}")
+
+        # Get episode timestamps from metadata
+        ep = dataset.meta.episodes[episode_index]
+        start_ts = float(ep[f"videos/{video_key}/from_timestamp"])
+        end_ts = float(ep[f"videos/{video_key}/to_timestamp"])
+        duration = end_ts - start_ts
+
+        # Extract episode segment to temporary file
+        extracted_path = self.video_extractor.extract_episode_video(
+            video_path, start_ts, end_ts, target_fps=1
+        )
+        if self.add_timer_overlay:
+            video_for_vlm = self.video_extractor.add_timer_overlay(extracted_path)
+        else:
+            video_for_vlm = extracted_path
+
+        try:
+            # Run VLM skill segmentation
+            skills = self.vlm.segment_skills(video_for_vlm, duration, coarse_goal, subtask_labels)
+            return skills
+        finally:
+            # Clean up temporary files (extracted and optionally timer-overlay)
+            if extracted_path.exists():
+                extracted_path.unlink()
+            if self.add_timer_overlay and video_for_vlm != extracted_path and video_for_vlm.exists():
+                video_for_vlm.unlink()
+
+
+# Metadata Writer - Updates per-frame task_index based on skills
+
+
+def get_skill_for_timestamp(skills: list[Skill], timestamp: float) -> Skill | None:
+    """
+    Find which skill covers a given timestamp.
+
+    Args:
+        skills: List of skills with start/end times
+        timestamp: Frame timestamp in seconds
+
+    Returns:
+        The Skill that covers this timestamp, or None if not found
+    """
+    for skill in skills:
+        if skill.start <= timestamp < skill.end:
+            return skill
+        # Handle the last frame (end boundary)
+        if timestamp >= skill.end and skill == skills[-1]:
+            return skill
+    return skills[-1] if skills else None  # Fallback to last skill
+
+
+def save_skill_annotations(
+    dataset: LeRobotDataset,
+    annotations: dict[int, EpisodeSkills],
+    output_dir: Path | None = None,
+    repo_id: str | None = None,
+) -> LeRobotDataset:
+    """
+    Save skill annotations to the dataset by:
+    1. Creating a subtasks.parquet file with unique subtasks
+    2. Adding a subtask_index feature to the dataset
+    3. Saving raw skill annotations as JSON for reference
+
+    This function does NOT modify tasks.parquet - it keeps the original tasks intact
+    and creates a separate subtask hierarchy.
+
+    Args:
+        dataset: The LeRobot dataset to annotate
+        annotations: Dictionary of episode skills
+        output_dir: Optional directory to save the modified dataset
+        repo_id: Optional repository ID for the new dataset
+
+    Returns:
+        New dataset with subtask_index feature added
+    """
+    if not annotations:
+        print("No annotations to save")
+        return dataset
+
+    # Step 1: Create subtasks DataFrame
+    print("Creating subtasks DataFrame...")
+    subtasks_df, skill_to_subtask_idx = create_subtasks_dataframe(annotations)
+
+    # Step 2: Create subtask_index array for all frames
+    print("Creating subtask_index array...")
+    subtask_indices = create_subtask_index_array(dataset, annotations, skill_to_subtask_idx)
+
+    # Step 3: Save subtasks.parquet to the original dataset root
+    save_subtasks(subtasks_df, dataset.root)
+
+    # Step 4: Save the raw skill annotations as JSON for reference
+    skills_path = dataset.root / "meta" / "skills.json"
+    skills_path.parent.mkdir(parents=True, exist_ok=True)
+
+    # Load existing skills data if it exists and is not empty
+    existing_skills_data = None
+    if skills_path.exists():
+        try:
+            with open(skills_path) as f:
+                existing_skills_data = json.load(f)
+                if existing_skills_data and len(existing_skills_data.get("episodes", {})) > 0:
+                    print(
+                        f"Found existing skills.json with {len(existing_skills_data.get('episodes', {}))} episodes, merging..."
+                    )
+        except (OSError, json.JSONDecodeError):
+            print("Warning: Could not load existing skills.json, will create new file")
+            existing_skills_data = None
+
+    # Prepare new annotations
+    new_episodes = {str(ep_idx): ann.to_dict() for ep_idx, ann in annotations.items()}
+
+    # Merge with existing data if available
+    if existing_skills_data:
+        # Preserve existing episodes that are not being updated
+        merged_episodes = existing_skills_data.get("episodes", {}).copy()
+        merged_episodes.update(new_episodes)
+
+        # Merge skill_to_subtask_index mappings
+        merged_skill_to_subtask = existing_skills_data.get("skill_to_subtask_index", {}).copy()
+        merged_skill_to_subtask.update(skill_to_subtask_idx)
+
+        # Use existing coarse_description if available, otherwise use new one
+        coarse_desc = existing_skills_data.get(
+            "coarse_description", annotations[next(iter(annotations))].description
+        )
+
+        skills_data = {
+            "coarse_description": coarse_desc,
+            "skill_to_subtask_index": merged_skill_to_subtask,
+            "episodes": merged_episodes,
+        }
+        print(
+            f"Updated {len(new_episodes)} episode(s), total episodes in skills.json: {len(merged_episodes)}"
+        )
+    else:
+        # No existing data, create new
+        skills_data = {
+            "coarse_description": annotations[next(iter(annotations))].description,
+            "skill_to_subtask_index": skill_to_subtask_idx,
+            "episodes": new_episodes,
+        }
+
+    with open(skills_path, "w") as f:
+        json.dump(skills_data, f, indent=2)
+
+    print(f" Saved skill annotations to {skills_path}")
+
+    # Step 5: Add subtask_index feature to dataset using add_features
+    print("Adding subtask_index feature to dataset...")
+
+    # Determine output directory and repo_id
+    output_dir = dataset.root.parent / f"{dataset.root.name}" if output_dir is None else Path(output_dir)
+
+    if repo_id is None:
+        repo_id = f"{dataset.repo_id}"
+
+    # Add feature using dataset_tools
+    feature_info = {
+        "dtype": "int64",
+        "shape": (1,),
+        "names": None,
+    }
+    new_dataset = add_features(
+        dataset=dataset,
+        features={
+            "subtask_index": (subtask_indices, feature_info),
+        },
+        output_dir=output_dir,
+        repo_id=repo_id,
+    )
+
+    # Copy subtasks.parquet to new output directory
+    import shutil
+
+    shutil.copy(dataset.root / "meta" / "subtasks.parquet", output_dir / "meta" / "subtasks.parquet")
+    shutil.copy(dataset.root / "meta" / "skills.json", output_dir / "meta" / "skills.json")
+
+    print(" Successfully added subtask_index feature!")
+    print(f"  New dataset saved to: {new_dataset.root}")
+    print(f"  Total subtasks: {len(subtasks_df)}")
+
+    return new_dataset
+
+
+def load_skill_annotations(dataset_root: Path) -> dict | None:
+    """Load existing skill annotations from a dataset."""
+    skills_path = dataset_root / "meta" / "skills.json"
+    if skills_path.exists():
+        with open(skills_path) as f:
+            return json.load(f)
+    return None

src/lerobot/data_processing/data_annotations/vlm_annotations.py

@@ -0,0 +1,271 @@
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import json
+import logging
+import re
+from abc import ABC, abstractmethod
+from pathlib import Path
+
+import torch
+
+from lerobot.data_processing.data_annotations.subtask_annotations import Skill
+from lerobot.utils.constants import (
+    SKILL_SEGMENTATION_PROMPT_TEMPLATE,
+    format_subtask_labels_section,
+)
+
+logger = logging.getLogger(__name__)
+
+DEFAULT_MODEL = "Qwen/Qwen3.5-27B"
+
+
+def create_skill_segmentation_prompt(
+    coarse_goal: str | None = None,
+    subtask_labels: list[str] | None = None,
+    duration_seconds: float | None = None,
+) -> str:
+    """Create the prompt for skill segmentation using the template from constants."""
+    if duration_seconds is None:
+        raise ValueError("duration_seconds is required for skill segmentation prompt")
+    goal_context = f'The overall goal is: "{coarse_goal}"\n\n' if coarse_goal else ""
+    subtask_labels_section = format_subtask_labels_section(subtask_labels) if subtask_labels else ""
+    video_duration_mm_ss = f"{int(duration_seconds // 60):02d}:{int(duration_seconds % 60):02d}"
+    return SKILL_SEGMENTATION_PROMPT_TEMPLATE.format(
+        goal_context=goal_context,
+        subtask_labels_section=subtask_labels_section,
+        video_duration_seconds=duration_seconds,
+        video_duration_mm_ss=video_duration_mm_ss,
+    )
+
+
+class BaseVLM(ABC):
+    """
+    Abstract base class for Vision-Language Models used in skill segmentation.
+
+    To add a new VLM family:
+    1. Subclass BaseVLM
+    2. Implement __init__, segment_skills, and segment_skills_batch
+    3. Register it in get_vlm()
+    """
+
+    @abstractmethod
+    def __init__(self, model_name: str, device: str = "cuda", torch_dtype: torch.dtype = torch.bfloat16):
+        pass
+
+    @abstractmethod
+    def segment_skills(
+        self,
+        video_path: Path,
+        episode_duration: float,
+        coarse_goal: str | None = None,
+        subtask_labels: list[str] | None = None,
+    ) -> list[Skill]:
+        """Segment a single video into atomic skills."""
+        pass
+
+    @abstractmethod
+    def segment_skills_batch(
+        self,
+        video_paths: list[Path],
+        episode_durations: list[float],
+        coarse_goal: str | None = None,
+        subtask_labels: list[str] | None = None,
+    ) -> list[list[Skill]]:
+        """Segment multiple videos into atomic skills in a single batch."""
+        pass
+
+    def _parse_skills_response(self, response: str) -> list[Skill]:
+        """Parse JSON skill list from VLM response text."""
+        if "```json" in response:
+            response = response.split("```json")[1].split("```")[0]
+        elif "```" in response:
+            response = response.split("```")[1].split("```")[0]
+
+        try:
+            data = json.loads(response)
+            skills_data = data.get("skills", data)
+            if isinstance(skills_data, list):
+                return [Skill.from_dict(s) for s in skills_data]
+        except json.JSONDecodeError:
+            match = re.search(r"\{.*\}", response, re.DOTALL)
+            if match:
+                try:
+                    data = json.loads(match.group())
+                    skills_data = data.get("skills", [])
+                    return [Skill.from_dict(s) for s in skills_data]
+                except json.JSONDecodeError as e:
+                    raise ValueError(f"Could not parse JSON from VLM response: {response[:200]}...") from e
+
+        raise ValueError(f"Could not parse skills from response: {response[:200]}...")
+
+
+class QwenVL(BaseVLM):
+    """Qwen VL model for skill segmentation (default: Qwen3.5 series).
+
+    Uses qwen-vl-utils for video processing and the HuggingFace transformers
+    Qwen3VLProcessor pipeline. Requires transformers >= 5.4.0 for correct
+    video position embeddings.
+    """
+
+    def __init__(self, model_name: str, device: str = "cuda", torch_dtype: torch.dtype = torch.bfloat16):
+        from qwen_vl_utils import process_vision_info
+        from transformers import AutoModelForImageTextToText, AutoProcessor
+
+        self.device = device
+        self.model_name = model_name
+        self.process_vision_info = process_vision_info
+
+        logger.info(f"Loading model: {model_name}...")
+
+        self.model = AutoModelForImageTextToText.from_pretrained(
+            model_name, torch_dtype=torch_dtype, device_map=device, trust_remote_code=True
+        )
+        self.processor = AutoProcessor.from_pretrained(model_name, trust_remote_code=True)
+        self.processor.tokenizer.padding_side = "left"
+
+        logger.info(f"Model loaded on {device}")
+
+    def _build_messages(self, video_path: Path, episode_duration: float, prompt: str) -> list[dict]:
+        duration_str = f"{int(episode_duration // 60):02d}:{int(episode_duration % 60):02d}"
+        return [
+            {"role": "system", "content": [{"type": "text", "text": prompt}]},
+            {
+                "role": "user",
+                "content": [
+                    {"type": "video", "video": str(video_path), "fps": 1.0},
+                    {
+                        "type": "text",
+                        "text": (
+                            f"Video duration: {duration_str} (exactly {episode_duration:.1f} seconds). "
+                            f"Segment into atomic skills. Last skill must end at {episode_duration:.1f}."
+                        ),
+                    },
+                ],
+            },
+        ]
+
+    def _prepare_inputs(self, messages: list[dict]) -> dict:
+        """Tokenize a single message and return processor inputs on device."""
+        text = self.processor.apply_chat_template(
+            messages, tokenize=False, add_generation_prompt=True, enable_thinking=False
+        )
+        image_inputs, video_inputs = self.process_vision_info(messages, return_video_metadata=True)
+
+        videos, video_metadata = None, None
+        if video_inputs:
+            videos = [v[0] for v in video_inputs]
+            video_metadata = [v[1] for v in video_inputs]
+
+        return self.processor(
+            text=[text],
+            images=image_inputs,
+            videos=videos,
+            videos_kwargs={
+                "video_metadata": video_metadata,
+                "do_sample_frames": False,
+            },
+            padding=True,
+            return_tensors="pt",
+        ).to(self.device)
+
+    def _decode(self, inputs, generated_ids) -> list[str]:
+        return self.processor.batch_decode(
+            [out[len(inp) :] for inp, out in zip(inputs.input_ids, generated_ids, strict=True)],
+            skip_special_tokens=True,
+            clean_up_tokenization_spaces=False,
+        )
+
+    def segment_skills(
+        self,
+        video_path: Path,
+        episode_duration: float,
+        coarse_goal: str | None = None,
+        subtask_labels: list[str] | None = None,
+    ) -> list[Skill]:
+        prompt = create_skill_segmentation_prompt(
+            coarse_goal, subtask_labels, duration_seconds=episode_duration
+        )
+        messages = self._build_messages(video_path, episode_duration, prompt)
+        inputs = self._prepare_inputs(messages)
+
+        with torch.no_grad():
+            generated_ids = self.model.generate(
+                **inputs, max_new_tokens=1024, do_sample=True, temperature=0.7
+            )
+
+        response = self._decode(inputs, generated_ids)[0].strip()
+        return self._parse_skills_response(response)
+
+    def segment_skills_batch(
+        self,
+        video_paths: list[Path],
+        episode_durations: list[float],
+        coarse_goal: str | None = None,
+        subtask_labels: list[str] | None = None,
+    ) -> list[list[Skill]]:
+        all_texts = []
+        all_video_tuples: list[tuple] = []
+
+        for video_path, duration in zip(video_paths, episode_durations, strict=True):
+            prompt = create_skill_segmentation_prompt(coarse_goal, subtask_labels, duration_seconds=duration)
+            messages = self._build_messages(video_path, duration, prompt)
+
+            text = self.processor.apply_chat_template(
+                messages, tokenize=False, add_generation_prompt=True, enable_thinking=False
+            )
+            _image_inputs, video_inputs = self.process_vision_info(messages, return_video_metadata=True)
+            all_texts.append(text)
+            all_video_tuples.extend(video_inputs or [])
+
+        videos, video_metadata = None, None
+        if all_video_tuples:
+            videos = [v[0] for v in all_video_tuples]
+            video_metadata = [v[1] for v in all_video_tuples]
+
+        inputs = self.processor(
+            text=all_texts,
+            videos=videos,
+            videos_kwargs={
+                "video_metadata": video_metadata,
+                "do_sample_frames": False,
+            },
+            padding=True,
+            return_tensors="pt",
+        ).to(self.device)
+
+        with torch.no_grad():
+            generated_ids = self.model.generate(
+                **inputs, max_new_tokens=1024, do_sample=True, temperature=0.7
+            )
+
+        responses = self._decode(inputs, generated_ids)
+
+        all_skills = []
+        for idx, response in enumerate(responses):
+            try:
+                skills = self._parse_skills_response(response.strip())
+                if not skills:
+                    logger.warning(f"No skills parsed for video {idx}")
+                all_skills.append(skills)
+            except Exception as e:
+                logger.warning(f"Failed to parse response for video {idx}: {e}")
+                all_skills.append([])
+
+        return all_skills
+
+
+def get_vlm(model_name: str, device: str = "cuda", torch_dtype: torch.dtype = torch.bfloat16) -> BaseVLM:
+    """Create a VLM instance. Defaults to QwenVL which supports the Qwen3.5 series."""
+    return QwenVL(model_name, device, torch_dtype)

src/lerobot/datasets/utils.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+from __future__ import annotations
 
 # Copyright 2024 The HuggingFace Inc. team. All rights reserved.
 #
@@ -21,7 +22,11 @@ from collections import deque
 from collections.abc import Iterable, Iterator
 from pathlib import Path
 from pprint import pformat
-from typing import Any
+from typing import TYPE_CHECKING, Any
+
+if TYPE_CHECKING:
+    from lerobot.data_processing.data_annotations.subtask_annotations import EpisodeSkills
+    from lerobot.datasets.lerobot_dataset import LeRobotDataset
 
 import datasets
 import numpy as np
@@ -1216,6 +1221,111 @@ def find_float_index(target, float_list, threshold=1e-6):
     return -1
 
 
+def create_subtasks_dataframe(
+    annotations: dict[int, EpisodeSkills],
+) -> tuple[pd.DataFrame, dict[str, int]]:
+    """
+    Create a subtasks DataFrame from skill annotations.
+
+    Args:
+        annotations: Dictionary of episode skills
+
+    Returns:
+        Tuple of (subtasks_df, skill_to_subtask_idx mapping)
+    """
+    # Collect all unique skill names
+    all_skill_names: set[str] = set()
+    for episode_skills in annotations.values():
+        for skill in episode_skills.skills:
+            all_skill_names.add(skill.name)
+    # Build subtasks DataFrame
+    subtask_data = []
+    for i, skill_name in enumerate(sorted(all_skill_names)):
+        subtask_data.append(
+            {
+                "subtask": skill_name,
+                "subtask_index": i,
+            }
+        )
+
+    if not subtask_data:
+        subtasks_df = pd.DataFrame(columns=["subtask", "subtask_index"]).set_index("subtask")
+    else:
+        subtasks_df = pd.DataFrame(subtask_data).set_index("subtask")
+
+    # Build skill name to subtask_index mapping
+    skill_to_subtask_idx = {
+        skill_name: int(subtasks_df.loc[skill_name, "subtask_index"]) for skill_name in all_skill_names
+    }
+
+    return subtasks_df, skill_to_subtask_idx
+
+
+def save_subtasks(
+    subtasks_df: pd.DataFrame,
+    dataset_root: Path,
+) -> None:
+    """Save subtasks to subtasks.parquet."""
+    output_path = dataset_root / "meta" / "subtasks.parquet"
+    output_path.parent.mkdir(parents=True, exist_ok=True)
+
+    subtasks_df.to_parquet(output_path, engine="pyarrow", compression="snappy")
+
+
+def create_subtask_index_array(
+    dataset: LeRobotDataset,
+    annotations: dict[int, EpisodeSkills],
+    skill_to_subtask_idx: dict[str, int],
+) -> np.ndarray:
+    """
+    Create a subtask_index array for each frame based on skill annotations.
+
+    Args:
+        dataset: The LeRobot dataset
+        annotations: Dictionary of episode skills
+        skill_to_subtask_idx: Mapping from skill name to subtask_index
+
+    Returns:
+        Array of subtask indices for each frame in the dataset
+    """
+    # Array to store subtask index for each frame
+    # Initialize with -1 to indicate unannotated frames
+    full_dataset_length = len(dataset)
+    subtask_indices = np.full(full_dataset_length, -1, dtype=np.int64)
+
+    # Assign subtask_index for each annotated episode
+    fps = float(dataset.meta.fps)
+    for ep_idx, episode_skills in annotations.items():
+        skills = episode_skills.skills
+
+        # Get episode frame range
+        ep = dataset.meta.episodes[ep_idx]
+        ep_from = int(ep["dataset_from_index"])
+        ep_to = int(ep["dataset_to_index"])
+
+        # Process each frame in the episode (compute timestamp from index to avoid loading video)
+        for frame_idx in range(ep_from, ep_to):
+            timestamp = (frame_idx - ep_from) / fps
+
+            # Find which skill covers this timestamp (inline to avoid circular import)
+            skill = None
+            for s in skills:
+                if s.start <= timestamp < s.end:
+                    skill = s
+                    break
+                if timestamp >= s.end and s == skills[-1]:
+                    skill = s
+                    break
+            if not skill and skills:
+                skill = skills[-1]
+
+            if skill and skill.name in skill_to_subtask_idx:
+                subtask_idx = skill_to_subtask_idx[skill.name]
+                subtask_indices[frame_idx] = subtask_idx
+
+    return subtask_indices
+
+
 class LookBackError(Exception):
     """
     Exception raised when trying to look back in the history of a Backtrackable object.
@@ -1279,7 +1389,7 @@ class Backtrackable[T]:
         self._history = history
         self._lookahead = lookahead
 
-    def __iter__(self) -> "Backtrackable[T]":
+    def __iter__(self) -> Backtrackable[T]:
         return self
 
     def __next__(self) -> T:

src/lerobot/scripts/lerobot_subtask_annotate.py

@@ -0,0 +1,160 @@
+#!/usr/bin/env python
+
+# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""
+Automatic Skill Annotation for LeRobot Datasets.
+
+This script performs automatic subtask/skill labeling for ANY LeRobot dataset using
+Vision-Language Models (VLMs). It segments each robot demonstration into short atomic
+skills (1-3 seconds each) and creates a new dataset with subtask annotations.
+
+The pipeline:
+1. Loads a LeRobot dataset (local or from HuggingFace Hub)
+2. For each episode, extracts video frames
+3. Uses a VLM to identify skill boundaries and labels
+4. Creates a subtasks.parquet file with unique subtasks
+5. Adds a subtask_index feature to the dataset
+
+Supported VLMs (modular design): Qwen2-VL, Qwen3-VL, Qwen3.5-VL (see vlm_annotations.py).
+
+Usage:
+  lerobot-dataset-subtask-annotate --repo_id=user/dataset --video_key=observation.images.base ...
+  lerobot-dataset-subtask-annotate --data_dir=/path/to/dataset --video_key=observation.images.base ...
+"""
+
+from dataclasses import dataclass
+from pathlib import Path
+
+import torch
+
+from lerobot.configs import parser
+from lerobot.data_processing.data_annotations.subtask_annotations import (
+    SkillAnnotator,
+    save_skill_annotations,
+)
+from lerobot.data_processing.data_annotations.vlm_annotations import get_vlm
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+
+@dataclass
+class SubtaskAnnotateConfig:
+    """Configuration for automatic subtask/skill annotation with VLMs."""
+
+    # Data source: provide exactly one of data_dir (local) or repo_id (Hub)
+    data_dir: str | None = None
+    repo_id: str | None = None
+    # Video observation key (e.g. observation.images.base)
+    video_key: str = "observation.images.base"
+    # VLM model name (default: Qwen/Qwen2-VL-7B-Instruct)
+    model: str = "Qwen/Qwen2-VL-7B-Instruct"
+    device: str = "cuda"
+    dtype: str = "bfloat16"
+    batch_size: int = 8
+    # Episode selection (default: all)
+    episodes: list[int] | None = None
+    skip_existing: bool = False
+    # Output
+    output_dir: str | None = None
+    output_repo_id: str | None = None
+    push_to_hub: bool = False
+    # Closed vocabulary: comma-separated labels (e.g. "label1,label2,label3")
+    subtask_labels: str | None = None
+    # Disable timer overlay on video (by default a timer is drawn for the VLM)
+    no_timer_overlay: bool = False
+
+
+@parser.wrap()
+def subtask_annotate(cfg: SubtaskAnnotateConfig):
+    """
+    Run automatic skill annotation on a LeRobot dataset using a VLM.
+
+    Args:
+        cfg: SubtaskAnnotateConfig with data source, model, and output options.
+    """
+    if (cfg.data_dir is None) == (cfg.repo_id is None):
+        raise ValueError("Provide exactly one of --data_dir or --repo_id")
+
+    # Parse comma-separated subtask labels into a list (or None)
+    subtask_labels_list: list[str] | None = None
+    if cfg.subtask_labels and cfg.subtask_labels.strip():
+        subtask_labels_list = [s.strip() for s in cfg.subtask_labels.split(",") if s.strip()]
+
+    dtype_map = {
+        "bfloat16": torch.bfloat16,
+        "float16": torch.float16,
+        "float32": torch.float32,
+    }
+    torch_dtype = dtype_map[cfg.dtype]
+
+    print("Loading dataset...")
+    if cfg.data_dir:
+        dataset = LeRobotDataset(repo_id="local/dataset", root=cfg.data_dir, download_videos=False)
+    else:
+        dataset = LeRobotDataset(repo_id=cfg.repo_id, download_videos=True)
+
+    print(f" Loaded dataset with {dataset.meta.total_episodes} episodes")
+
+    if cfg.video_key not in dataset.meta.video_keys:
+        available = ", ".join(dataset.meta.video_keys)
+        raise ValueError(f"Video key '{cfg.video_key}' not found. Available: {available}")
+
+    print(f"Initializing VLM: {cfg.model}...")
+    vlm = get_vlm(cfg.model, cfg.device, torch_dtype)
+
+    add_timer_overlay = not cfg.no_timer_overlay
+    annotator = SkillAnnotator(
+        vlm=vlm,
+        batch_size=cfg.batch_size,
+        add_timer_overlay=add_timer_overlay,
+    )
+    print(f"Processing with batch size: {cfg.batch_size}")
+    annotations = annotator.annotate_dataset(
+        dataset=dataset,
+        video_key=cfg.video_key,
+        episodes=cfg.episodes,
+        skip_existing=cfg.skip_existing,
+        subtask_labels=subtask_labels_list,
+    )
+
+    output_dir = Path(cfg.output_dir) if cfg.output_dir else None
+    output_repo_id = cfg.output_repo_id
+    new_dataset = save_skill_annotations(dataset, annotations, output_dir, output_repo_id)
+
+    total_skills = sum(len(ann.skills) for ann in annotations.values())
+    print("\nAnnotation complete!")
+    print(f"Episodes annotated: {len(annotations)}")
+    print(f"Total subtasks identified: {total_skills}")
+    print(f"Dataset with subtask_index saved to: {new_dataset.root}")
+
+    if cfg.push_to_hub:
+        if cfg.data_dir:
+            print("Warning: --push_to_hub requires --repo_id, skipping...")
+        else:
+            print("Pushing to HuggingFace Hub...")
+            try:
+                new_dataset.push_to_hub(branch="subtasks")
+                print(f" Pushed to {output_repo_id or cfg.repo_id}")
+            except Exception as e:
+                print(f"Push failed: {e}")
+
+
+def main():
+    """CLI entry point that parses config and runs subtask annotation."""
+    subtask_annotate()
+
+
+if __name__ == "__main__":
+    main()

src/lerobot/utils/constants.py

@@ -89,3 +89,92 @@ LIBERO_KEY_JOINTS_POS = "robot_state/joints/pos"
 LIBERO_KEY_JOINTS_VEL = "robot_state/joints/vel"
 LIBERO_KEY_PIXELS_AGENTVIEW = "pixels/agentview_image"
 LIBERO_KEY_PIXELS_EYE_IN_HAND = "pixels/robot0_eye_in_hand_image"
+
+
+def format_subtask_labels_section(subtask_labels: list[str]) -> str:
+    """Format a list of subtask labels for the closed-vocabulary section of the prompt."""
+    return "\n        ".join(f'"{label}"' for label in subtask_labels)
+
+
+SKILL_SEGMENTATION_PROMPT_TEMPLATE = """# Role
+You are a Robotics Vision System specializing in temporal action segmentation for robot manipulation demonstrations.
+
+# Video duration (critical)
+The total video length is **{video_duration_seconds} seconds** ({video_duration_mm_ss}). All "start" and "end" values in your JSON must be numeric seconds in the range [0.0, {video_duration_seconds}]. The last skill's "end" must be exactly **{video_duration_seconds}**. Do not stop earlier.
+
+# Task
+{goal_context}Segment this robot demonstration video into short atomic manipulation skills. Each skill should:
+- Last approximately 1-3 seconds (or longer if the action takes longer)
+- Describe a clear, single action (e.g., "pick up object", "move arm left", "release gripper")
+- Have precise start and end timestamps in seconds (float)
+
+# Requirements
+1. **Atomic Actions**: Each skill should be a single, indivisible action
+2. **Complete Coverage**: Skills must cover the entire video from 0.0 to {video_duration_seconds} seconds with no gaps
+3. **Boundary Consistency**: The end of one skill equals the start of the next
+4. **Natural Language**: Use clear, descriptive names for each skill
+5. **Timestamps**: Use seconds as floats (e.g. 12.5) for all timestamps; the last "end" must be {video_duration_seconds}. If the video has a visible timer in the corner showing elapsed time in seconds, use it to report accurate start and end times for each skill.
+# Subtask Label Set (Closed Vocabulary)
+        You MUST strictly identify the video segments using ONLY the following labels. Do not create new labels or modify existing ones:
+
+        [
+        {subtask_labels_section}
+        ]
+
+        The video shows one successful execution of all subtasks in a logical order.
+
+        # Ground-Truth Semantics (Very Important)
+        Use **visual state changes** to define when a subtask starts and ends. Do NOT assume equal durations for the subtasks.
+
+        - A subtask **starts** at the first frame where the robot's motion clearly initiates that subtask.
+        - A subtask **ends** at the first frame where that specific action is visually completed and the manipulated object reaches a temporary, stable configuration.
+
+        If there are short pauses or micro-motions that don't clearly correspond to a new subtask, they belong to the **current** subtask.
+
+        # Hard Constraints & Logic
+        1. **Continuous Coverage (No Gaps):**
+           - The entire video from 0.0 to {video_duration_seconds} seconds must be covered by subtasks.
+           - There can be no gaps between subtasks.
+           - If there is any idle or ambiguous time between clear actions, extend the *preceding* subtask to cover it.
+
+        2. **Boundary Consistency:**
+           - The `"end"` timestamp of one subtask must be exactly equal to the `"start"` timestamp of the next subtask.
+           - Boundaries must coincide with a real visual state transition, not just a convenient time split.
+
+        3. **Chronological Order, One Occurrence Each:**
+           - This is a single successful demonstration.
+           - Each subtask from the vocabulary appears **exactly once**, in the correct logical order.
+           - **Durations may be very different** between subtasks. Never assume they are similar lengths. Base all boundaries only on the video.
+
+        4. **Reject Uniform Segmentation (Important):**
+           - Do NOT simply divide the video into equal or nearly equal time chunks.
+           - If your boundaries would result in subtasks with similar durations (e.g. all around 5 seconds), treat this as evidence that your segmentation is wrong and refine the boundaries.
+           - Only use nearly equal durations if the video truly shows each subtask taking the same amount of time (this is very rare).
+
+        5. **Timestamps (critical):**
+           - Use numeric seconds (float) in the JSON, e.g. 0.0, 5.2, 12.8.
+           - The first subtask always starts at 0.0.
+           - The last subtask must end at exactly {video_duration_seconds} (the full video length).
+           - **Time is displayed inside the video**: a visible timer in one corner shows the elapsed time in seconds (from 0.0 to the end). Use this on-screen timer to set accurate start and end times for each skill.
+        Format this as a bullet list.
+
+# Output Format
+output ONLY valid JSON with this exact structure. The last skill's "end" MUST be exactly {video_duration_seconds}. Use the timestamps you read from the visible timer in the video:
+
+```json
+{{
+  "skills": [
+    {{"name": "first skill", "start": 0.0, "end": 5.0}},
+    {{"name": "second skill", "start": 5.0, "end": 12.0}},
+    {{"name": "last skill", "start": 12.0, "end": {video_duration_seconds}}}
+  ]
+}}
+```
+
+The first skill must start at 0.0 and the last skill must end at **{video_duration_seconds}** (the total video duration in seconds).
+# Strict Structural Rule
+This video contains exactly ALL subtasks given to you.
+Each segment must use a unique label from the vocabulary.
+No label may be repeated.
+
+"""

src/lerobot/utils/import_utils.py

@@ -74,7 +74,7 @@ _peft_available = is_package_available("peft")
 _scipy_available = is_package_available("scipy")
 _reachy2_sdk_available = is_package_available("reachy2_sdk")
 _can_available = is_package_available("python-can", "can")
-_unitree_sdk_available = is_package_available("unitree-sdk2", "unitree_sdk2py")
+_unitree_sdk_available = is_package_available("unitree-sdk2py", "unitree_sdk2py")
 _pygame_available = is_package_available("pygame")
 
 

tests/datasets/test_subtask_dataset.py

@@ -23,11 +23,18 @@ These tests verify that:
 - Subtask handling gracefully handles missing data
 """
 
+import numpy as np
 import pandas as pd
 import pytest
 import torch
 
+from lerobot.data_processing.data_annotations.subtask_annotations import EpisodeSkills, Skill
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
+from lerobot.datasets.utils import (
+    create_subtask_index_array,
+    create_subtasks_dataframe,
+    save_subtasks,
+)
 
 
 class TestSubtaskDataset:
@@ -188,3 +195,164 @@ class TestSubtaskEdgeCases:
                 )
             else:
                 subtask_map[idx] = subtask
+
+
+class TestCreateSubtasksDataframe:
+    """Tests for create_subtasks_dataframe in utils."""
+
+    def test_empty_annotations(self):
+        """Empty annotations produce empty DataFrame and empty mapping."""
+        subtasks_df, skill_to_subtask_idx = create_subtasks_dataframe({})
+        assert len(subtasks_df) == 0
+        assert list(subtasks_df.columns) == ["subtask_index"]
+        assert skill_to_subtask_idx == {}
+
+    def test_single_episode_single_skill(self):
+        """Single episode with one skill produces one row and correct mapping."""
+        annotations = {
+            0: EpisodeSkills(
+                episode_index=0,
+                description="Pick",
+                skills=[Skill("pick", 0.0, 1.0)],
+            ),
+        }
+        subtasks_df, skill_to_subtask_idx = create_subtasks_dataframe(annotations)
+        assert len(subtasks_df) == 1
+        assert subtasks_df.index.tolist() == ["pick"]
+        assert subtasks_df.loc["pick", "subtask_index"] == 0
+        assert skill_to_subtask_idx == {"pick": 0}
+
+    def test_multiple_episodes_overlapping_skills(self):
+        """Multiple episodes with overlapping skill names yield unique sorted skills."""
+        annotations = {
+            0: EpisodeSkills(
+                episode_index=0,
+                description="Ep0",
+                skills=[
+                    Skill("place", 0.0, 0.5),
+                    Skill("pick", 0.5, 1.0),
+                ],
+            ),
+            1: EpisodeSkills(
+                episode_index=1,
+                description="Ep1",
+                skills=[Skill("pick", 0.0, 1.0)],
+            ),
+        }
+        subtasks_df, skill_to_subtask_idx = create_subtasks_dataframe(annotations)
+        # Sorted order: pick, place
+        assert subtasks_df.index.tolist() == ["pick", "place"]
+        assert int(subtasks_df.loc["pick", "subtask_index"]) == 0
+        assert int(subtasks_df.loc["place", "subtask_index"]) == 1
+        assert skill_to_subtask_idx["pick"] == 0
+        assert skill_to_subtask_idx["place"] == 1
+
+    def test_skills_sorted_alphabetically(self):
+        """Subtask rows are in alphabetical order by skill name."""
+        annotations = {
+            0: EpisodeSkills(
+                episode_index=0,
+                description="Ep",
+                skills=[
+                    Skill("z_final", 0.0, 0.33),
+                    Skill("a_first", 0.33, 0.66),
+                    Skill("m_mid", 0.66, 1.0),
+                ],
+            ),
+        }
+        subtasks_df, _ = create_subtasks_dataframe(annotations)
+        assert subtasks_df.index.tolist() == ["a_first", "m_mid", "z_final"]
+        assert list(subtasks_df["subtask_index"]) == [0, 1, 2]
+
+
+class TestSaveSubtasks:
+    """Tests for save_subtasks in utils."""
+
+    def test_save_subtasks_creates_file(self, tmp_path):
+        """save_subtasks writes meta/subtasks.parquet and creates parent dir."""
+        subtasks_df = pd.DataFrame(
+            [{"subtask": "pick", "subtask_index": 0}, {"subtask": "place", "subtask_index": 1}]
+        ).set_index("subtask")
+        save_subtasks(subtasks_df, tmp_path)
+        out = tmp_path / "meta" / "subtasks.parquet"
+        assert out.exists()
+        read_df = pd.read_parquet(out)
+        pd.testing.assert_frame_equal(read_df.reset_index(), subtasks_df.reset_index())
+
+    def test_save_subtasks_content_matches(self, tmp_path):
+        """Saved parquet round-trips with same content."""
+        subtasks_df = pd.DataFrame(
+            [{"subtask": "a", "subtask_index": 0}, {"subtask": "b", "subtask_index": 1}]
+        ).set_index("subtask")
+        save_subtasks(subtasks_df, tmp_path)
+        read_df = pd.read_parquet(tmp_path / "meta" / "subtasks.parquet")
+        assert read_df.index.tolist() == subtasks_df.index.tolist()
+        assert list(read_df["subtask_index"]) == list(subtasks_df["subtask_index"])
+
+
+class TestCreateSubtaskIndexArray:
+    """Tests for create_subtask_index_array in utils."""
+
+    @pytest.fixture
+    def dataset_with_episodes(self, tmp_path, empty_lerobot_dataset_factory):
+        """Dataset with two episodes (10 frames each) for index-array tests."""
+        features = {"state": {"dtype": "float32", "shape": (2,), "names": None}}
+        dataset = empty_lerobot_dataset_factory(root=tmp_path / "subtask_idx", features=features)
+        for _ in range(10):
+            dataset.add_frame({"state": torch.randn(2), "task": "Task A"})
+        dataset.save_episode()
+        for _ in range(10):
+            dataset.add_frame({"state": torch.randn(2), "task": "Task B"})
+        dataset.save_episode()
+        dataset.finalize()
+        return LeRobotDataset(dataset.repo_id, root=dataset.root)
+
+    def test_unannotated_all_minus_one(self, dataset_with_episodes):
+        """With no annotations, all frame indices are -1."""
+        skill_to_subtask_idx = {"pick": 0, "place": 1}
+        arr = create_subtask_index_array(dataset_with_episodes, {}, skill_to_subtask_idx)
+        assert len(arr) == len(dataset_with_episodes)
+        assert arr.dtype == np.int64
+        assert np.all(arr == -1)
+
+    def test_annotated_episode_assigns_by_timestamp(self, dataset_with_episodes):
+        """Frames in an annotated episode get subtask index from skill time ranges."""
+        # Dataset uses DEFAULT_FPS=30. Episode 0: 10 frames -> timestamps 0, 1/30, ..., 9/30 (~0.3s).
+        # Skills: "pick" [0, 0.2), "place" [0.2, 0.5). At 30 fps: 0.2s = 6 frames, so frames 0-5 = pick, 6-9 = place.
+        annotations = {
+            0: EpisodeSkills(
+                episode_index=0,
+                description="Pick and place",
+                skills=[
+                    Skill("pick", 0.0, 0.2),  # frames 0-5 at 30 fps
+                    Skill("place", 0.2, 0.5),  # frames 6-9 at 30 fps
+                ],
+            ),
+        }
+        skill_to_subtask_idx = {"pick": 0, "place": 1}
+        arr = create_subtask_index_array(dataset_with_episodes, annotations, skill_to_subtask_idx)
+        assert len(arr) == 20
+        # Episode 0: from_index=0, to_index=10 at 30 fps
+        for i in range(6):
+            assert arr[i] == 0, f"frame {i} should be pick"
+        for i in range(6, 10):
+            assert arr[i] == 1, f"frame {i} should be place"
+        # Episode 1 not annotated
+        for i in range(10, 20):
+            assert arr[i] == -1
+
+    def test_partial_annotations_leave_others_minus_one(self, dataset_with_episodes):
+        """Only annotated episodes get non -1 indices; others stay -1."""
+        annotations = {
+            1: EpisodeSkills(
+                episode_index=1,
+                description="Place only",
+                skills=[Skill("place", 0.0, 1.0)],
+            ),
+        }
+        skill_to_subtask_idx = {"place": 0}
+        arr = create_subtask_index_array(dataset_with_episodes, annotations, skill_to_subtask_idx)
+        for i in range(10):
+            assert arr[i] == -1
+        for i in range(10, 20):
+            assert arr[i] == 0