An IDR frame, or an I-slice can not be decoded without a SPS and PPS. In the case of a container like mp4, the SPS and PPS is stored away from the video data in the file header. Upon playback the mp4 is parsed, the SPS/PPS is used to configure the AVC decoder once, then video can be played back starting at any IDR/I-slice.
There is a second scenario, Live video. With live video, there is no file header, because there is no file. So when a TV tunes into a channel, where does it get the SPS/PPS? Because television is broadcast, meaning the television has no way to request the SPS/PPS, it is repeated in the stream.
So when you start encoding video, your encoder does not know what you intend to do with the video. Now if the extra SPS/PPS show up in an mp4, the decoder just ignores them, but if you are streaming to a TV, without them the stream would never play. So most of the default to repeating SPS/PPS just in case.