trying to get sac running

lerobot/common/policies/sac/configuration_sac.py

@@ -20,6 +20,24 @@ from dataclasses import dataclass, field
 
 @dataclass
 class SACConfig:
+    input_shapes: dict[str, list[int]] = field(
+        default_factory=lambda: {
+            "observation.image": [3, 84, 84],
+            "observation.state": [4],
+        }
+    )
+    output_shapes: dict[str, list[int]] = field(
+        default_factory=lambda: {
+            "action": [4],
+        }
+    )
+
+    # Normalization / Unnormalization
+    input_normalization_modes: dict[str, str] | None = None
+    output_normalization_modes: dict[str, str] = field(
+        default_factory=lambda: {"action": "min_max"},
+    )
+
     discount = 0.99
     temperature_init = 1.0
     num_critics = 2
@@ -29,6 +47,9 @@ class SACConfig:
     temperature_lr = 3e-4
     critic_target_update_weight = 0.005
     utd_ratio = 2
+    state_encoder_hidden_dim = 256
+    latent_dim = 50
+    target_entropy = None
     critic_network_kwargs = {
         "hidden_dims": [256, 256],
         "activate_final": True,