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Pepijn
0f5f0e4091
- 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 deleted (stale: uses plan, top-camera names; superseded by the two recipes above) - smolvla2_hirobot.yaml -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>
35 lines
991 B
Python
35 lines
991 B
Python
#!/usr/bin/env python
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from pathlib import Path
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import pytest
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from lerobot.configs.recipe import MessageTurn, TrainingRecipe
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def test_message_recipe_validates_unknown_binding():
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with pytest.raises(ValueError, match="unknown binding"):
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TrainingRecipe(
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messages=[
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MessageTurn(role="user", content="${missing}", stream="high_level"),
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MessageTurn(role="assistant", content="ok", stream="high_level", target=True),
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]
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)
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def test_canonical_recipe_loads():
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recipe = TrainingRecipe.from_yaml(
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Path("src/lerobot/configs/recipes/subtask_mem_vqa_speech.yaml")
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)
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assert recipe.blend is not None
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assert set(recipe.blend) == {
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"memory_update",
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"user_interjection_response",
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"high_level_subtask",
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"low_level_execution",
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"ask_vqa_top",
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"ask_vqa_wrist",
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}
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assert sum(component.weight for component in recipe.blend.values()) == pytest.approx(1.0)
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