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Fix SARM dense_only mode: always load episodes_df for target computation (#3021)

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* fix annotation mode check

* fix: SARM dense_only mode always load episodes_df for target computation

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Co-authored-by: John Newsom <jackmnewsom@gmail.com>
Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com>
This commit is contained in:
Khalil Meftah
2026-02-25 13:28:01 +01:00
committed by GitHub
parent 0317a15bf1
commit 7541d72130
1 changed files with 1 additions and 3 deletions
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src/lerobot/policies/sarm/processor_sarm.py
+1 -3
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@@ -277,9 +277,7 @@ class SARMEncodingProcessorStep(ProcessorStep):
# When language is perturbed, targets are zero so perturbed samples don't contribute to progress loss
if self.dataset_meta is not None:
episodes_df = None
if self.sparse_subtask_names != ["task"]:
episodes_df = self.dataset_meta.episodes.to_pandas()
episodes_df = self.dataset_meta.episodes.to_pandas()
# Generate sparse targets
if self.sparse_temporal_proportions is not None: