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pepijn
54221ceea2
Hardcoding ``n_subtask_target=10`` and ``n_memory_target=6`` baked task complexity into the config — a simple pick-and-place needs ~6, a multi-step recipe needs ~20. The VLM already sees the clips, so let it pick the count itself from what's recurring across episodes. Drop both knobs from ``VocabularyConfig`` and the ``module_0_vocabulary`` prompt template. The prompt now says "decide the count yourself based on what you see — the smallest set that still covers every recurring phase" and adds an "each label must recur across the demos" rule so the VLM filters out one-off motions. Update the launcher script + docs to remove the old knobs. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com> Co-authored-by: Cursor <cursoragent@cursor.com>