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Pepijn
4fa9578e3d
Cleanup pass over the language-support PR to cut LOC and scope creep. Removals: - SayTool + tools/ package (registry, Tool protocol, [tools] extra) and the runtime's tool-dispatch path. Kept <say> training supervision and inference stripping so speech-annotated datasets still train. - WeightedEpisodeAwareSampler + VQA oversampling wiring (_build_vqa_oversample_weights, vqa_target_fraction) — training uses plain EpisodeAwareSampler again. - Debug env-gates PI052_DEBUG_TENSORS, PI052_SUBTASK_USE_TASK, EVAL_TASK_OVERRIDE. - Dead code: broken _tp._DUMP_BUDGET block, unused imports (copy/Tensor, RevisionNotFoundError, LeRobotDataset, os), messages_for_vqa, steps.py shim (modeling imports pi052_adapter directly), duplicated _emit, builtins.type[T]. Moves: - Policy-agnostic runtime -> src/lerobot/runtime/ (LanguageConditionedRuntime + adapter Protocol + state); pi052 keeps only its adapter + CLI. Tests -> tests/runtime/. Other: - Compacted verbose AI-authored comments/docstrings across pi052 (kept the hard-won DDP / barrier-timeout / reduce-max / VQA-routing notes). - Relocated LM-head prediction debug helper to pi052/debug_utils.py. - Fixed test_render_messages: assert task-fallback render (current behavior) instead of the stale no-op expectation. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>