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remove redundant asserts

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Bryson Jones
2025-12-10 13:52:11 -08:00
parent 5524a0d7a7
commit 10cfc17705
1 changed files with 0 additions and 5 deletions
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src/lerobot/policies/multi_task_dit/modeling_multi_task_dit.py
-5
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@@ -804,11 +804,6 @@ class MultiTaskDiTPolicy(PreTrainedPolicy):
batch = dict(batch) batch = dict(batch)
batch[OBS_IMAGES] = torch.stack([batch[key] for key in self.config.image_features], dim=-4) batch[OBS_IMAGES] = torch.stack([batch[key] for key in self.config.image_features], dim=-4)
n_obs_steps = batch["observation.state"].shape[1]
horizon = batch["action"].shape[1]
assert horizon == self.config.horizon
assert n_obs_steps == self.config.n_obs_steps
conditioning_vec = self.observation_encoder.encode(batch) conditioning_vec = self.observation_encoder.encode(batch)
loss = self.objective.compute_loss(self.noise_predictor, batch, conditioning_vec) loss = self.objective.compute_loss(self.noise_predictor, batch, conditioning_vec)