tests are passing for aloha/act policies, removes abstract policy

lerobot/common/policies/tdmpc/policy.py

@@ -150,6 +150,8 @@ class TDMPCPolicy(nn.Module):
 
         t0 = step == 0
 
+        self.eval()
+
         if len(self._queues["action"]) == 0:
             batch = {key: torch.stack(list(self._queues[key]), dim=1) for key in batch}
 
@@ -171,7 +173,7 @@ class TDMPCPolicy(nn.Module):
                 actions.append(action)
             action = torch.stack(actions)
 
-            # self.act returns an action for 1 timestep only, so we copy it over `n_action_steps` time
+            # tdmpc returns an action for 1 timestep only, so we copy it over `n_action_steps` time
             if i in range(self.n_action_steps):
                 self._queues["action"].append(action)