Pepijn 1b81e49214 feat(annotate): task rephrasings + video-derived task fallback ...

Module 1 now produces ``task_aug`` rows (registered in PR 1) so the
PR-1 ``${task}`` resolver can rotate phrasings deterministically per
``sample_idx``. Plus an opt-in video-derived task that bypasses the
canonical ``meta/tasks.parquet`` task when it's empty, low-quality, or
explicitly disabled — every downstream Module-1 prompt then uses the
derived task as its grounding.

- ``Module1Config``: adds ``n_task_rephrasings`` (default 10) and
  ``derive_task_from_video`` ∈ ``{off, if_short, always}`` (default
  ``if_short``: triggers when canonical is empty, < 3 words, or matches
  a placeholder string like ``debug`` / ``unnamed`` / ``tbd``).
- ``plan_subtasks_memory.py``: ``run_episode`` now resolves an
  ``effective_task`` (canonical OR video-derived) and threads it
  through ``_generate_subtasks`` / ``_generate_plan`` /
  ``_generate_memory`` so subtasks, plans, and memory are all grounded
  in the same task string. Then generates ``n`` rephrasings of the
  effective task and writes them as ``task_aug`` rows at ``t=0`` with
  ``role=user``. The effective task itself is included as the first
  variant so the rotation is guaranteed to cover the source-of-truth
  phrasing.
- New prompts: ``module_1_video_task.txt`` (one-shot video → task),
  ``module_1_task_rephrasings.txt`` (text-only paraphraser, ``n`` per
  call).
- ``meta/tasks.parquet`` is NOT modified — derived tasks live only in
  ``language_persistent``.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

2026-04-30 18:48:36 +02:00

..

lerobot

feat(annotate): task rephrasings + video-derived task fallback

2026-04-30 18:48:36 +02:00