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Match SARM original implementation #2591

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Match SARM original implementation #2591

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@s1lent4gnt s1lent4gnt commented Dec 5, 2025 •
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What this does

  1. Fix rewind frames augmentations
  2. Fix task language augmentation
  3. Fix the sampling of 9 frames, frame zero always the first frame from the episode, 1-8 are frames 8 consecutive frames BEFORE the current target frame

@s1lent4gnt s1lent4gnt changed the title Update lerobot_train to train with RA-BC for ACT policy Match SARM original implementation Dec 8, 2025
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