throw an error if config.do_maks_loss and action_is_pad not provided in batch (#213)

Co-authored-by: Alexander Soare <[email protected]>

Author: radekosmulski

lerobot/common/policies/diffusion/modeling_diffusion.py

@@ -304,7 +304,11 @@ def compute_loss(self, batch: dict[str, Tensor]) -> Tensor:
         loss = F.mse_loss(pred, target, reduction="none")
 
         # Mask loss wherever the action is padded with copies (edges of the dataset trajectory).
-        if self.config.do_mask_loss_for_padding and "action_is_pad" in batch:
+        if self.config.do_mask_loss_for_padding:
+            if "action_is_pad" not in batch:
+                raise ValueError(
+                    f"You need to provide 'action_is_pad' in the batch when {self.config.do_mask_loss_for_padding=}."
+                )
             in_episode_bound = ~batch["action_is_pad"]
             loss = loss * in_episode_bound.unsqueeze(-1)