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fix: move rabc.py to rewards/sarm/ and update import paths

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This commit is contained in:
Khalil Meftah
2026-03-16 16:09:27 +01:00
parent 00b913a729
commit 49d64c9028
3 changed files with 8 additions and 8 deletions
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src/lerobot/policies/sarm/rabc.py → src/lerobot/rewards/sarm/rabc.py
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src/lerobot/utils/sample_weighting.py
+2 -2
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@@ -149,7 +149,7 @@ def _make_rabc_weighter(
dataset_repo_id: HuggingFace repo ID (for auto-detecting progress_path). dataset_repo_id: HuggingFace repo ID (for auto-detecting progress_path).
""" """
# Import here to avoid circular imports and keep RABC code in SARM module # Import here to avoid circular imports and keep RABC code in SARM module
from lerobot.policies.sarm.rabc import RABCWeights from lerobot.rewards.sarm.rabc import RABCWeights
# Extract chunk_size from policy config # Extract chunk_size from policy config
chunk_size = getattr(policy.config, "chunk_size", None) chunk_size = getattr(policy.config, "chunk_size", None)
@@ -171,7 +171,7 @@ def _make_rabc_weighter(
"RABC sample weighting requires 'progress_path' to be set, " "RABC sample weighting requires 'progress_path' to be set, "
"or dataset_root/dataset_repo_id for auto-detection. " "or dataset_root/dataset_repo_id for auto-detection. "
"Generate progress values using: " "Generate progress values using: "
"python -m lerobot.policies.sarm.compute_rabc_weights --help" "python -m lerobot.rewards.sarm.compute_rabc_weights --help"
) )
return RABCWeights( return RABCWeights(
tests/utils/test_sample_weighting.py
+6 -6
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@@ -268,7 +268,7 @@ def test_factory_rabc_auto_detects_from_dataset_root(sample_progress_parquet):
) )
assert weighter is not None assert weighter is not None
from lerobot.policies.sarm.rabc import RABCWeights from lerobot.rewards.sarm.rabc import RABCWeights
assert isinstance(weighter, RABCWeights) assert isinstance(weighter, RABCWeights)
@@ -306,7 +306,7 @@ def test_factory_rabc_auto_detects_from_repo_id():
def test_rabc_weights_is_sample_weighter(sample_progress_parquet): def test_rabc_weights_is_sample_weighter(sample_progress_parquet):
"""Test that RABCWeights inherits from SampleWeighter.""" """Test that RABCWeights inherits from SampleWeighter."""
from lerobot.policies.sarm.rabc import RABCWeights from lerobot.rewards.sarm.rabc import RABCWeights
weighter = RABCWeights( weighter = RABCWeights(
progress_path=sample_progress_parquet, progress_path=sample_progress_parquet,
@@ -318,7 +318,7 @@ def test_rabc_weights_is_sample_weighter(sample_progress_parquet):
def test_rabc_compute_batch_weights(sample_progress_parquet): def test_rabc_compute_batch_weights(sample_progress_parquet):
"""Test RABCWeights.compute_batch_weights returns correct structure.""" """Test RABCWeights.compute_batch_weights returns correct structure."""
from lerobot.policies.sarm.rabc import RABCWeights from lerobot.rewards.sarm.rabc import RABCWeights
weighter = RABCWeights( weighter = RABCWeights(
progress_path=sample_progress_parquet, progress_path=sample_progress_parquet,
@@ -338,7 +338,7 @@ def test_rabc_compute_batch_weights(sample_progress_parquet):
def test_rabc_get_stats(sample_progress_parquet): def test_rabc_get_stats(sample_progress_parquet):
"""Test RABCWeights.get_stats returns expected structure.""" """Test RABCWeights.get_stats returns expected structure."""
from lerobot.policies.sarm.rabc import RABCWeights from lerobot.rewards.sarm.rabc import RABCWeights
weighter = RABCWeights( weighter = RABCWeights(
progress_path=sample_progress_parquet, progress_path=sample_progress_parquet,
@@ -360,7 +360,7 @@ def test_rabc_get_stats(sample_progress_parquet):
def test_factory_creates_rabc_weighter(sample_progress_parquet): def test_factory_creates_rabc_weighter(sample_progress_parquet):
"""Test factory creates RABCWeights with valid config.""" """Test factory creates RABCWeights with valid config."""
from lerobot.policies.sarm.rabc import RABCWeights from lerobot.rewards.sarm.rabc import RABCWeights
config = SampleWeightingConfig( config = SampleWeightingConfig(
type="rabc", type="rabc",
@@ -381,7 +381,7 @@ def test_factory_creates_rabc_weighter(sample_progress_parquet):
def test_rabc_weights_normalization(sample_progress_parquet): def test_rabc_weights_normalization(sample_progress_parquet):
"""Test that RABCWeights normalizes weights to sum to batch_size.""" """Test that RABCWeights normalizes weights to sum to batch_size."""
from lerobot.policies.sarm.rabc import RABCWeights from lerobot.rewards.sarm.rabc import RABCWeights
weighter = RABCWeights( weighter = RABCWeights(
progress_path=sample_progress_parquet, progress_path=sample_progress_parquet,