[Vertax42]

src/openpi/policies/aloha_tactile_policy.py is dead code. Verified rather than assumed:

• Zero importers. Counting references to every policy module, it is the only non-test one at zero — aloha_policy, its non-tactile sibling, is reached through LeRobotAlohaDataConfig.
• Never YAML-reachable. registry.TRANSFORMS admits RepackTransform and nothing else, so no config could name AlohaTactileInputs even on purpose.
• No config uses it. The only tactile mention under configs/ is the XTac-UMI one, which runs xtac_umi_policy and does not consume tactile streams.

What this leaves behind

Pi0TactileConfig stays in the model registry, and this was the only shipped transform producing the <arm>_tactile_<finger>_rgb slots it consumes. So Pi0Tactile is now a registered model with no shipped data path — anyone reaching for it has to write that transform themselves. models/pi0_tactile.py, pi0_tactile_config.py and IMAGE_KEYS_TACTILE are otherwise untouched.

If that whole path is dead too, removing it is a bigger and separate call — flagging it rather than folding it in here.

Verification

• ruff check src/ examples/ clean
• pytest src/openpi/training src/openpi/policies examples → 138 passed, identical to before the delete; the one failure (policy_rtc_test) reproduces on a clean tree and predates this branch
• All six registries still resolve; openpi.training.config and openpi.policies.policy_config import clean

🤖 Generated with Claude Code

[Vertax42]

Reviewed against upstream main at 7396c33 (fresh clone, not the PR's base). All three claims in the description hold:

Claim	Check	Result
Zero importers	grep -rn "aloha_tactile|AlohaTactile" over the whole tree, excluding the file itself	zero hits
Never YAML-reachable	registry.py:55 TRANSFORMS dict literal	contains RepackTransform and nothing else
No config uses it	every tactile hit under configs/	all are the tactile: false video-decode flag; none reference this transform

The "what this leaves behind" note is also correct: aloha_tactile_policy.py:91-92 produces left_tactile_left_rgb / right_tactile_left_rgb, pi0_tactile.py:23 TACTILE_CAMERAS consumes exactly those, and nothing else in the repo produces them.

One thing the description assumes that does not hold

It treats Pi0Tactile as a working model left without a data path. It is not working. pi0_tactile.py:26 declares:

class Pi0Tactile(nnx.Module):

— nnx.Module, not Pi0 and not BaseModel (compare pi0.py:81, class Pi0(_model.BaseModel)). The body is written for a Pi0 parent regardless:

• :37 super().__init__(config, rngs), commented "this creates the visual encoder and LLM" — nnx.Module creates neither
• :77 and :106 read self.PaliGemma, which is never assigned anywhere in the class
• only embed_prefix is implemented — no compute_loss, no sample_actions (both @abc.abstractmethod on BaseModel), no embed_suffix

Pi0TactileConfig.get_freeze_filter() has two more:

• :115 super().get_freeze_filter() — BaseModelConfig has no such method; only Pi0Config defines it (pi0_config.py:92)
• :120 self.freeze_visual_encoder — no such field exists anywhere in the repo

That path is reachable: yaml_loader.py:120 _maybe_inject_lora_freeze_filter calls model.get_freeze_filter() whenever the YAML omits freeze_filter and a variant string contains lora. Its :131 comment, "Only Pi0Config defines get_freeze_filter today", is out of date — Pi0TactileConfig defines it too, so the hasattr guard admits it rather than skipping it.

And ModelTransformFactory.__call__ (config.py:117) matches PI0, PI05, PI0_FAST with no case _, so a config naming Pi0TactileConfig falls off the end and gets model_transforms = None.

So deleting this transform costs Pi0Tactile nothing it could have used. That strengthens the case for this PR rather than weakening it — but it means the follow-up is a deletion, not a transform someone still needs to write.

Also worth knowing

aloha_tactile_policy.py was deleted once before, in 95ec789 ("Remove ALOHA and LIBERO policy implementations", 2026-01-27), and restored the same day by 01762f0 ("Restore aloha_policy.py and aloha_tactile_policy.py - critical for ARX5"). Given the tactile file has zero importers and its non-tactile sibling aloha_policy.py is reached through LeRobotAlohaDataConfig, that restore almost certainly needed the sibling, not this one.

LGTM.