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Pepijn
cec8ee0be6
Steerable annotation pipeline (lerobot-annotate) that populates the language_persistent and language_events columns introduced in PR 1 (#3467) directly into data/chunk-*/file-*.parquet. This is PR 2 of the three-PR plan: PR 1 (Add extensive language support #3467): schema + DSL + rendering, base of this PR PR 2 (this PR): annotation pipeline writing into PR 1's columns PR 3: model with language prediction and runtime A VLM (Qwen-VL family, served on vLLM) watches each episode's video and emits grounded language annotations: subtasks, plans, memory, task rephrasings, interjections + speech, and per-camera VQA. The pipeline is built for production annotation at scale — single-camera grounding, embedded-frame inputs, a describe-then-segment grounding flow, and a deterministic full-episode coverage guarantee — informed by Scale's dense-captioning findings (representation > sampling, rules > reasoning, model capacity is the biggest lever, two-pass systems compound errors)
42 lines
1.6 KiB
Python
42 lines
1.6 KiB
Python
#!/usr/bin/env python
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# Copyright 2026 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Unit tests for ``vlm_client`` helpers."""
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from __future__ import annotations
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import pytest
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pytest.importorskip("datasets", reason="datasets is required (install lerobot[dataset])")
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from lerobot.annotations.steerable_pipeline.vlm_client import _bind_serve_port # noqa: E402
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def test_bind_serve_port_substitutes_placeholder() -> None:
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# The {port} placeholder is replaced everywhere it appears, regardless of
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# parallel vs single server — the bug was the single-server path passing
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# it through unsubstituted.
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cmd = "vllm serve M --max-model-len 32768 --port {port}"
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assert _bind_serve_port(cmd, 8000) == "vllm serve M --max-model-len 32768 --port 8000"
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def test_bind_serve_port_appends_when_missing() -> None:
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assert _bind_serve_port("vllm serve M", 8001) == "vllm serve M --port 8001"
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def test_bind_serve_port_leaves_explicit_port_untouched() -> None:
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cmd = "vllm serve M --port 9000"
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assert _bind_serve_port(cmd, 8000) == cmd
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