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refactor(sarm): update reset method and remove unused action prediction methods

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This commit is contained in:
Khalil Meftah
2026-04-22 13:38:23 +02:00
parent 6b518a3de7
commit c6b8d36d48
1 changed files with 1 additions and 9 deletions
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src/lerobot/rewards/sarm/modeling_sarm.py
+1 -9
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@@ -645,17 +645,9 @@ class SARMRewardModel(PreTrainedRewardModel):
return self.parameters() return self.parameters()
def reset(self): def reset(self):
"""Required by PreTrainedPolicy but not used for reward models.""" """SARM has no episode-level state to reset."""
pass 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( def _train_step(
self, self,
img_emb: torch.Tensor, # (B, N, T, D) img_emb: torch.Tensor, # (B, N, T, D)