mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-18 10:10:08 +00:00
Pepijn
2b71221194
- recipe.py: derive _VALID_ROLES/_VALID_STREAMS from MessageRole/MessageStream Literals - dataset_metadata.py: keep CODEBASE_VERSION at v3.0 - language.py: remove RESERVED_STYLES; split arrow/feature schemas into persistent (with timestamp) and event (without timestamp); add docstrings - language_render.py: events use frame-row timestamp implicitly; no per-event timestamp filtering or sorting - converters.py: drop unused subtask_key passthrough - add docstrings to new public APIs (recipe, render_messages_processor, collate) - update tests for split schemas; revert uv.lock Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
98 lines
3.2 KiB
Python
98 lines
3.2 KiB
Python
#!/usr/bin/env python
|
|
|
|
import numpy as np
|
|
import pandas as pd
|
|
import pyarrow as pa
|
|
import pytest
|
|
|
|
from lerobot.datasets import LeRobotDataset
|
|
from lerobot.datasets.io_utils import write_info
|
|
from lerobot.datasets.language import (
|
|
EVENT_ONLY_STYLES,
|
|
LANGUAGE_EVENTS,
|
|
LANGUAGE_PERSISTENT,
|
|
PERSISTENT_STYLES,
|
|
STYLE_REGISTRY,
|
|
column_for_style,
|
|
language_events_arrow_type,
|
|
language_feature_info,
|
|
language_persistent_arrow_type,
|
|
)
|
|
from lerobot.datasets.utils import DEFAULT_DATA_PATH
|
|
|
|
|
|
def test_language_arrow_schema_has_expected_fields():
|
|
persistent_row_type = language_persistent_arrow_type().value_type
|
|
event_row_type = language_events_arrow_type().value_type
|
|
|
|
assert isinstance(persistent_row_type, pa.StructType)
|
|
assert persistent_row_type.names == ["role", "content", "style", "timestamp", "tool_calls"]
|
|
|
|
assert isinstance(event_row_type, pa.StructType)
|
|
assert event_row_type.names == ["role", "content", "style", "tool_calls"]
|
|
|
|
|
|
def test_style_registry_routes_columns():
|
|
assert {"subtask", "plan", "memory"} == PERSISTENT_STYLES
|
|
assert {"interjection", "vqa"} == EVENT_ONLY_STYLES
|
|
assert PERSISTENT_STYLES | EVENT_ONLY_STYLES <= STYLE_REGISTRY
|
|
|
|
assert column_for_style("subtask") == LANGUAGE_PERSISTENT
|
|
assert column_for_style("plan") == LANGUAGE_PERSISTENT
|
|
assert column_for_style("memory") == LANGUAGE_PERSISTENT
|
|
assert column_for_style("interjection") == LANGUAGE_EVENTS
|
|
assert column_for_style("vqa") == LANGUAGE_EVENTS
|
|
assert column_for_style(None) == LANGUAGE_EVENTS
|
|
|
|
|
|
def test_unknown_style_rejected():
|
|
with pytest.raises(ValueError, match="Unknown language style"):
|
|
column_for_style("surprise")
|
|
|
|
|
|
def test_lerobot_dataset_passes_language_columns_through(tmp_path, empty_lerobot_dataset_factory):
|
|
root = tmp_path / "language_dataset"
|
|
dataset = empty_lerobot_dataset_factory(
|
|
root=root,
|
|
features={"state": {"dtype": "float32", "shape": (2,), "names": None}},
|
|
use_videos=False,
|
|
)
|
|
dataset.add_frame({"state": np.array([0.0, 1.0], dtype=np.float32), "task": "tidy"})
|
|
dataset.add_frame({"state": np.array([1.0, 2.0], dtype=np.float32), "task": "tidy"})
|
|
dataset.save_episode()
|
|
dataset.finalize()
|
|
|
|
persistent = [
|
|
{
|
|
"role": "assistant",
|
|
"content": "reach for the cup",
|
|
"style": "subtask",
|
|
"timestamp": 0.0,
|
|
"tool_calls": None,
|
|
}
|
|
]
|
|
event = {
|
|
"role": "user",
|
|
"content": "what is visible?",
|
|
"style": "vqa",
|
|
"tool_calls": None,
|
|
}
|
|
data_path = root / DEFAULT_DATA_PATH.format(chunk_index=0, file_index=0)
|
|
df = pd.read_parquet(data_path)
|
|
df[LANGUAGE_PERSISTENT] = [persistent, persistent]
|
|
df[LANGUAGE_EVENTS] = [[event], []]
|
|
df.to_parquet(data_path)
|
|
|
|
info = dataset.meta.info
|
|
info["features"].update(language_feature_info())
|
|
write_info(info, root)
|
|
|
|
reloaded = LeRobotDataset(repo_id=dataset.repo_id, root=root)
|
|
|
|
first = reloaded[0]
|
|
second = reloaded[1]
|
|
assert first[LANGUAGE_PERSISTENT] == persistent
|
|
assert first[LANGUAGE_EVENTS] == [event]
|
|
assert second[LANGUAGE_PERSISTENT] == persistent
|
|
assert second[LANGUAGE_EVENTS] == []
|