From c6b8d36d483cc347ac67bfbec8d1010f725164bc Mon Sep 17 00:00:00 2001 From: Khalil Meftah Date: Wed, 22 Apr 2026 13:38:23 +0200 Subject: [PATCH] refactor(sarm): update reset method and remove unused action prediction methods --- src/lerobot/rewards/sarm/modeling_sarm.py | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/src/lerobot/rewards/sarm/modeling_sarm.py b/src/lerobot/rewards/sarm/modeling_sarm.py index 3739d233a..365f519b2 100644 --- a/src/lerobot/rewards/sarm/modeling_sarm.py +++ b/src/lerobot/rewards/sarm/modeling_sarm.py @@ -645,17 +645,9 @@ class SARMRewardModel(PreTrainedRewardModel): return self.parameters() def reset(self): - """Required by PreTrainedPolicy but not used for reward models.""" + """SARM has no episode-level state to reset.""" pass - def predict_action_chunk(self, batch: dict[str, Tensor]) -> Tensor: - """Required by PreTrainedPolicy but not used for reward models.""" - raise NotImplementedError("SARM model does not predict action chunks") - - def select_action(self, batch: dict[str, Tensor]) -> Tensor: - """Required by PreTrainedPolicy but not used for SARM.""" - raise NotImplementedError("SARM model does not select actions") - def _train_step( self, img_emb: torch.Tensor, # (B, N, T, D)