Files
lerobot/tests/datasets
Pepijn bf996c7938 fix(datasets): render flow-only low_level recipes instead of dropping them
A recipe whose only supervision is the action-expert flow loss (e.g.
`low_level_execution`: `user(${subtask})` with `stream: low_level` and no
`target` turn) was rejected at render time by `_render_message_recipe` and
`_validate_rendered`, both of which required at least one target turn.

The result: every blend draw of the flow-only recipe rendered to `None`,
`predict_actions` was never set, `run_flow` never fired, and the action
expert received no flow loss — leaving it at random init. Both gates now
also accept a `low_level`-stream turn as valid supervision.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
2026-05-17 13:20:39 +02:00
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