From 7541d72130c66bd0ba9c24586e7fc773a83c48eb Mon Sep 17 00:00:00 2001 From: Khalil Meftah Date: Wed, 25 Feb 2026 13:28:01 +0100 Subject: [PATCH] Fix SARM dense_only mode: always load episodes_df for target computation (#3021) * fix annotation mode check * fix: SARM dense_only mode always load episodes_df for target computation --------- Co-authored-by: John Newsom Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> --- src/lerobot/policies/sarm/processor_sarm.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/lerobot/policies/sarm/processor_sarm.py b/src/lerobot/policies/sarm/processor_sarm.py index 5c617282a..8f2bc23db 100644 --- a/src/lerobot/policies/sarm/processor_sarm.py +++ b/src/lerobot/policies/sarm/processor_sarm.py @@ -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: