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feat(session): capture API planner trajectories - #312
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Hiforever-h wants to merge 33 commits into
Open
Hiforever-h wants to merge 33 commits into
Hiforever-h wants to merge 33 commits into
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Capture confirmed VLA action chunks with their input observation, instruction, and planner/tool/action links. Save predictions.jsonl through the existing trajectory serializer and task teardown without cropping or padding actions. Extend regression coverage for capture, persistence, and partial failures, and consolidate overlapping record tests.
Documentation build overview
11 files changed ·
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Documentation build overview
11 files changed ·
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Share environment action capture and VLA prediction grouping across LIBERO, RoboCasa, RoboDojo and RoboTwin. Remove the legacy Flywheel implementation and exports. Restore docs/ to local main at 58844d5.
Preserve docs/ at the requested local main revision 58844d5 while retaining the remote planner check and dependency fixes.
Refresh camera frames only around captured RoboDojo actions, preserving ordinary observation reads. Consolidate simulator capture tests with adapter contracts and share loopback fixtures across robot and core tests. Validation: 184 tests passed across the seven changed test modules; git diff --check passed.
qurakchin
reviewed
Oct 28, 2026
Move trajectory selection and export into rpent.flywheel with a dedicated CLI and optional extra. Export per-step LIBERO, RoboCasa, RoboDojo, and RoboTwin training data, preserving short segments and robot-native fields. Move API task capture into the session layer and let toolkit callbacks convert native environment results into trajectory recording payloads.
Group dual-Franka regressions with the env, toolkit, and runtime contracts. Centralize tool-result conversion and schema tests, remove duplicate cases, and reuse RPC fixtures with explicit server-thread cleanup.
Hiforever-h
marked this pull request as ready for review
October 29, 2026 07:45
qurakchin
reviewed
Oct 29, 2026
Replace four robot-specific Flywheel modules with RobotSpec declarations and shared conversion, success selection, and metadata export. Require trajectory schema v5 and use observation.state/action columns for every robot, removing the historical schema compatibility paths. Validation: 1887 unit tests passed, 7 skipped; pre-commit passed. Verified a schema-v5 RoboTwin trajectory: 134 frames and 402 images match the recorded source after export and reload.
Merge segment selection and image validation into flywheel.py and update the corresponding imports and tests without changing behavior. Validation: 1889 unit tests passed, 7 skipped; pre-commit passed.
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Description
Add opt-in trajectory recording for API planner tasks through
--record-trajectoryin the CLI and Dashboard, and export executed VLA actions as LeRobot training data.trajectories/<task-id>/, with referenced attachments. Preserve existing tool steps and artifacts.The optional
flywheeldependencies now pinpyarrow<26for compatibility with OpenPI's NumPy 1.x environment.Validation
git diff --check: passed.Checklist