lerobot

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Pepijn 4fa9578e3d refactor(pi052): trim PR — remove say tool, debug gates, dead code; move runtime

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>

2026-07-02 14:16:41 +02:00

test_aggregate.py

fix(datasets): enforce one parquet row group per episode in v3 data writes (#3807 )

2026-06-16 12:15:48 +02:00

test_compute_stats.py

fix(datasets): avoid uint8 overflow in image stats (#3697 )

2026-06-13 12:09:43 +02:00

test_dataset_metadata.py

Add extensive language support (#3467 )

2026-05-19 14:46:11 +02:00

test_dataset_reader.py

feat(encoding parameters): adding support for user provided video encoding parameters (#3455 )