Pepijn 5dbf0fac5f annotations(steerable): remove Phase 0 canonical vocabulary discovery ...

Drops the optional Phase 0 vocabulary-discovery feature entirely.
With the new structured action records (Phase 1a + 1b) providing
cross-episode consistency via the deterministic template renderer,
the older vocabulary-constraint path is redundant and adds a second
constraint mechanism that wasn't well-validated in practice.

Removed:
  * src/lerobot/annotations/steerable_pipeline/vocabulary.py
    (Vocabulary dataclass + VocabularyDiscoveryModule + load_/
    save_vocabulary helpers; canonical_vocabulary.json on-disk format)
  * src/lerobot/annotations/steerable_pipeline/prompts/module_0_vocabulary.txt
    (Phase 0 VLM prompt)
  * tests/annotations/test_vocabulary.py

Pruned wiring across:
  * config.py: VocabularyConfig dataclass + AnnotationPipelineConfig.
    vocabulary field
  * executor.py: vocabulary attribute on Executor + _run_vocabulary_
    phase method + Phase 0 phases.append call in run()
  * modules/plan_subtasks_memory.py: Vocabulary import + vocabulary
    attribute + _subtask_vocabulary_block / _memory_vocabulary_block
    helpers + _canonicalize_subtask / _normalize / _invalid_subtasks
    / _build_subtask_retry_message methods + vocabulary-gated retry
    path in _generate_subtasks + empty-episode warning + _NORMALIZE_
    STRIP_TOKENS constant
  * prompts/module_1_subtasks.txt: {vocabulary_block} placeholder
  * prompts/module_1_memory.txt: {vocabulary_block} placeholder
  * __init__.py: Vocabulary / VocabularyDiscoveryModule / load_
    vocabulary / save_vocabulary / vocabulary_path / VOCABULARY_
    FILENAME re-exports
  * scripts/lerobot_annotate.py: VocabularyDiscoveryModule import +
    instantiation + executor argument
  * examples/annotations/run_hf_job.py: --vocabulary.enabled=false
    flag + docstring references + inline phase-0 comment

The original free-form rephrasings path stays (PlanConfig.
n_task_rephrasings still works when task_aug_axes.enabled=False).
Action records remain the preferred mechanism for cross-episode
subtask consistency.

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

2026-06-02 11:48:27 +02:00

..

run_hf_job.py

annotations(steerable): remove Phase 0 canonical vocabulary discovery

2026-06-02 11:48:27 +02:00