From 86e0ee787dcd131cdafc528d909d5ce86d7ff065 Mon Sep 17 00:00:00 2001 From: Bryson Jones Date: Thu, 11 Dec 2025 08:26:21 -0800 Subject: [PATCH] remove environment state conditioning --- src/lerobot/policies/multi_task_dit/modeling_multi_task_dit.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/lerobot/policies/multi_task_dit/modeling_multi_task_dit.py b/src/lerobot/policies/multi_task_dit/modeling_multi_task_dit.py index c43782b36..5ae7d8480 100644 --- a/src/lerobot/policies/multi_task_dit/modeling_multi_task_dit.py +++ b/src/lerobot/policies/multi_task_dit/modeling_multi_task_dit.py @@ -755,9 +755,6 @@ class MultiTaskDiTPolicy(PreTrainedPolicy): if self.config.image_features: self._queues["observation.images"] = deque(maxlen=self.config.n_obs_steps) - if self.config.env_state_feature: - self._queues["observation.environment_state"] = deque(maxlen=self.config.n_obs_steps) - self._queues["task"] = deque(maxlen=self.config.n_obs_steps) @torch.no_grad()