fix(sarm): fail fast on unusable episode annotations (#4306)

* fix(sarm): warn when dense/sparse targets silently collapse to all-zero

In dense_only/dual modes, if meta/episodes/*.parquet has no usable
subtask columns (column absent or NaN), _load_episode_annotations
returns None and find_stage_and_tau yields stage 0 / tau 0 for every
frame. Training "succeeds" but the head silently learns to predict 0
everywhere, with no warning. This complements #2880 (which restored
loading of episodes_df): there the DataFrame is loaded but the
*_subtask_names column is missing/NaN.

Add a one-time validation at processor construction that logs a clear
warning (all episodes missing -> predict-all-zero; some missing ->
partial). Purely additive logging, no change to training math.

Closes #3842

* fix(sarm): fail fast on unusable episode annotations

---------

Co-authored-by: 1thanShih <Smartshithan1620.en12@nycu.edu.tw>

src/lerobot/rewards/sarm/processor_sarm.py

@@ -16,6 +16,7 @@
 
 from __future__ import annotations
 
+import logging
 import random
 from typing import TYPE_CHECKING, Any
 
@@ -69,6 +70,8 @@ from .sarm_utils import (
     pad_state_to_max_dim,
 )
 
+logger = logging.getLogger(__name__)
+
 
 class SARMEncodingProcessorStep(ProcessorStep):
     """ProcessorStep that encodes images and text with CLIP and generates stage and progress labels for SARM."""
@@ -108,6 +111,8 @@ class SARMEncodingProcessorStep(ProcessorStep):
             else None
         )
 
+        self._validate_annotation_columns()
+
         self.device = torch.device(
             self.config.device if self.config.device else "cuda" if torch.cuda.is_available() else "cpu"
         )
@@ -120,6 +125,78 @@ class SARMEncodingProcessorStep(ProcessorStep):
         self.verbs = ["move", "grasp", "rotate", "push", "pull", "slide", "lift", "place"]
         self.fake = Faker()
 
+    @staticmethod
+    def _resolve_annotation_column(episodes_df: pd.DataFrame, annotation_type: str, suffix: str) -> str:
+        """Resolve a mode-specific annotation column, falling back to the legacy unprefixed name."""
+        prefixed = f"{annotation_type}_{suffix}"
+        return prefixed if prefixed in episodes_df.columns else suffix
+
+    @staticmethod
+    def _annotations_are_usable(names: Any, starts: Any, ends: Any) -> bool:
+        """Return whether an episode has non-empty, aligned annotation arrays."""
+        values = (names, starts, ends)
+        if not all(isinstance(value, (list, tuple, np.ndarray)) for value in values):
+            return False
+
+        lengths = {len(value) for value in values}
+        return len(lengths) == 1 and next(iter(lengths)) > 0
+
+    def _validate_annotation_columns(self) -> None:
+        """Validate annotation coverage before loading models or generating training targets.
+
+        A multi-stage head with no usable episode annotations would otherwise train entirely
+        against all-zero targets. Reject that configuration and warn when only part of the
+        dataset is usable.
+        """
+        if self.dataset_meta is None:
+            return
+        episodes_df = self.dataset_meta.episodes.to_pandas()
+        num_episodes = len(episodes_df)
+
+        modes = []
+        if self.dense_subtask_names and len(self.dense_subtask_names) > 1:
+            modes.append(("dense", self.dense_subtask_names))
+        if self.sparse_subtask_names and len(self.sparse_subtask_names) > 1:
+            modes.append(("sparse", self.sparse_subtask_names))
+
+        for annotation_type, names in modes:
+            columns = [
+                self._resolve_annotation_column(episodes_df, annotation_type, suffix)
+                for suffix in ("subtask_names", "subtask_start_frames", "subtask_end_frames")
+            ]
+            missing_columns = [column for column in columns if column not in episodes_df.columns]
+            if missing_columns:
+                num_usable = 0
+            else:
+                num_usable = sum(
+                    self._annotations_are_usable(*(episodes_df.loc[ep_idx, column] for column in columns))
+                    for ep_idx in episodes_df.index
+                )
+
+            if num_usable == 0:
+                missing_columns_message = (
+                    f" Missing required columns: {', '.join(missing_columns)}." if missing_columns else ""
+                )
+                raise ValueError(
+                    f"SARM {annotation_type} head is configured with {len(names)} stages, but none of "
+                    f"the {num_episodes} episodes have usable annotations in meta/episodes/*.parquet. "
+                    f"Required columns: {', '.join(columns)}.{missing_columns_message} "
+                    "Training would produce all-zero "
+                    "targets. Materialize the annotations into the episodes metadata before training."
+                )
+
+            num_unusable = num_episodes - num_usable
+            if num_unusable:
+                logger.warning(
+                    "SARM %s head: %d/%d episodes have unusable annotations in columns %s; "
+                    "their targets will be 0 and only the %d annotated episodes will train the head.",
+                    annotation_type,
+                    num_unusable,
+                    num_episodes,
+                    ", ".join(columns),
+                    num_usable,
+                )
+
     def _find_episode_for_frame(self, frame_idx: int) -> int:
         """Find the episode index for a given frame index."""
         for ep_idx in range(len(self.dataset_meta.episodes)):
@@ -167,24 +244,18 @@ class SARMEncodingProcessorStep(ProcessorStep):
         if episodes_df is None or len(global_names) == 1:
             return None, None, None
 
-        # Resolve column name with fallback
+        columns = [
-        def col(suffix):
+            self._resolve_annotation_column(episodes_df, annotation_type, suffix)
-            prefixed = f"{annotation_type}_{suffix}"
+            for suffix in ("subtask_names", "subtask_start_frames", "subtask_end_frames")
-            return prefixed if prefixed in episodes_df.columns else suffix
+        ]
-
+        if any(column not in episodes_df.columns for column in columns) or ep_idx >= len(episodes_df):
-        col_names = col("subtask_names")
-        if col_names not in episodes_df.columns or ep_idx >= len(episodes_df):
             return None, None, None
 
-        subtask_names = episodes_df.loc[ep_idx, col_names]
+        annotations = tuple(episodes_df.loc[ep_idx, column] for column in columns)
-        if subtask_names is None or (isinstance(subtask_names, float) and pd.isna(subtask_names)):
+        if not self._annotations_are_usable(*annotations):
             return None, None, None
 
-        return (
+        return annotations
-            subtask_names,
-            episodes_df.loc[ep_idx, col("subtask_start_frames")],
-            episodes_df.loc[ep_idx, col("subtask_end_frames")],
-        )
 
     def __call__(self, transition: EnvTransition) -> EnvTransition:
         """

tests/rewards/test_sarm_processor.py

@@ -692,3 +692,140 @@ class TestSARMEncodingProcessorStepEndToEnd:
             assert abs(actual_dense - expected_dense) < 0.01, (
                 f"Frame {frame}: dense mismatch {actual_dense:.3f} vs expected {expected_dense:.3f}"
             )
+
+    def test_rejects_missing_dense_annotation_columns(self, mock_clip_model):
+        """A multi-stage dense head must reject metadata with no annotation columns."""
+        from lerobot.rewards.sarm.processor_sarm import SARMEncodingProcessorStep
+
+        config = MockConfig(
+            annotation_mode="dense_only",
+            dense_subtask_names=["d1", "d2", "d3", "d4"],
+            dense_temporal_proportions=[0.25, 0.25, 0.25, 0.25],
+        )
+        # episodes metadata WITHOUT any dense_subtask_* columns
+        episodes = [
+            {"dataset_from_index": 0, "dataset_to_index": 100, "task": "t"},
+            {"dataset_from_index": 100, "dataset_to_index": 200, "task": "t"},
+        ]
+        dataset_meta = MockDatasetMeta(episodes)
+
+        with pytest.raises(ValueError, match="Training would produce all-zero targets"):
+            SARMEncodingProcessorStep(config=config, dataset_meta=dataset_meta)
+
+    def test_rejects_dense_annotations_when_all_null(self, mock_clip_model):
+        """Present-but-null annotation columns must also fail before training."""
+        from lerobot.rewards.sarm.processor_sarm import SARMEncodingProcessorStep
+
+        config = MockConfig(
+            annotation_mode="dense_only",
+            dense_subtask_names=["d1", "d2", "d3", "d4"],
+            dense_temporal_proportions=[0.25, 0.25, 0.25, 0.25],
+        )
+        episodes = [
+            {
+                "dataset_from_index": 0,
+                "dataset_to_index": 100,
+                "task": "t",
+                "dense_subtask_names": None,
+                "dense_subtask_start_frames": None,
+                "dense_subtask_end_frames": None,
+            },
+            {
+                "dataset_from_index": 100,
+                "dataset_to_index": 200,
+                "task": "t",
+                "dense_subtask_names": None,
+                "dense_subtask_start_frames": None,
+                "dense_subtask_end_frames": None,
+            },
+        ]
+        dataset_meta = MockDatasetMeta(episodes)
+
+        with pytest.raises(ValueError, match="none of the 2 episodes have usable annotations"):
+            SARMEncodingProcessorStep(config=config, dataset_meta=dataset_meta)
+
+    def test_rejects_dense_annotations_with_missing_frame_column(self, mock_clip_model):
+        """Names alone are not usable when a required frame-boundary column is absent."""
+        from lerobot.rewards.sarm.processor_sarm import SARMEncodingProcessorStep
+
+        config = MockConfig(
+            annotation_mode="dense_only",
+            dense_subtask_names=["d1", "d2"],
+            dense_temporal_proportions=[0.5, 0.5],
+        )
+        episodes = [
+            {
+                "dataset_from_index": 0,
+                "dataset_to_index": 100,
+                "task": "t",
+                "dense_subtask_names": ["d1", "d2"],
+                "dense_subtask_start_frames": [0, 50],
+            }
+        ]
+
+        with pytest.raises(ValueError, match="Missing required columns: subtask_end_frames"):
+            SARMEncodingProcessorStep(config=config, dataset_meta=MockDatasetMeta(episodes))
+
+    def test_warns_when_dense_annotations_are_partial(self, mock_clip_model, caplog):
+        """Partially annotated datasets remain supported but report exact coverage."""
+        import logging
+
+        from lerobot.rewards.sarm.processor_sarm import SARMEncodingProcessorStep
+
+        config = MockConfig(
+            annotation_mode="dense_only",
+            dense_subtask_names=["d1", "d2"],
+            dense_temporal_proportions=[0.5, 0.5],
+        )
+        episodes = [
+            {
+                "dataset_from_index": 0,
+                "dataset_to_index": 100,
+                "task": "t",
+                "dense_subtask_names": ["d1", "d2"],
+                "dense_subtask_start_frames": [0, 50],
+                "dense_subtask_end_frames": [49, 99],
+            },
+            {
+                "dataset_from_index": 100,
+                "dataset_to_index": 200,
+                "task": "t",
+                "dense_subtask_names": None,
+                "dense_subtask_start_frames": None,
+                "dense_subtask_end_frames": None,
+            },
+        ]
+
+        with caplog.at_level(logging.WARNING, logger="lerobot.rewards.sarm.processor_sarm"):
+            SARMEncodingProcessorStep(config=config, dataset_meta=MockDatasetMeta(episodes))
+
+        assert "1/2 episodes have unusable annotations" in caplog.text
+        assert "only the 1 annotated episodes will train the head" in caplog.text
+
+    def test_no_warning_when_dense_annotations_present(self, mock_clip_model, caplog):
+        """A fully annotated dataset must not emit an annotation-coverage warning."""
+        import logging
+
+        from lerobot.rewards.sarm.processor_sarm import SARMEncodingProcessorStep
+
+        config = MockConfig(
+            annotation_mode="dense_only",
+            dense_subtask_names=["d1", "d2", "d3", "d4"],
+            dense_temporal_proportions=[0.25, 0.25, 0.25, 0.25],
+        )
+        episodes = [
+            {
+                "dataset_from_index": 0,
+                "dataset_to_index": 100,
+                "task": "t",
+                "dense_subtask_names": ["d1", "d2", "d3", "d4"],
+                "dense_subtask_start_frames": [0, 25, 50, 75],
+                "dense_subtask_end_frames": [25, 50, 75, 100],
+            }
+        ]
+        dataset_meta = MockDatasetMeta(episodes)
+
+        with caplog.at_level(logging.WARNING, logger="lerobot.rewards.sarm.processor_sarm"):
+            SARMEncodingProcessorStep(config=config, dataset_meta=dataset_meta)
+
+        assert not any("unusable annotations" in m for m in caplog.messages)