Referee Steve Bennett has confirmed to the FA that he saw the incident, which occurred during the midweek 2-0 win at Upton Park, but decided that it did not warrant any action.
The FA are therefore powerless to intervene as investigations can only be launched on the basis of video evidence if the match officials did not witness the incident at the time.
Roberts was booked by Bennett after an earlier incident, in which he jumped for a ball with James Collins and caught the West Ham defender in the face with his elbow.
Shortly afterwards, Roberts was moving to shield a ball coming towards him and, in doing so, caught Collins' face again with his left elbow, leaving the defender with a cut lip.
Roberts is understood to have apologised to the Wales international, explaining that it was an accidental collision, and referee Bennett evidently agreed with that view.
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