diff --git a/lerobot/common/policies/diffusion/modeling_diffusion.py b/lerobot/common/policies/diffusion/modeling_diffusion.py
index 0d7bab95..48608537 100644
--- a/lerobot/common/policies/diffusion/modeling_diffusion.py
+++ b/lerobot/common/policies/diffusion/modeling_diffusion.py
@@ -111,12 +111,12 @@ class DiffusionPolicy(nn.Module, PyTorchModelHubMixin):
         Schematically this looks like:
             ----------------------------------------------------------------------------------------------
             (legend: o = n_obs_steps, h = horizon, a = n_action_steps)
-            |timestep            | n-o+1 | n-o+2 | ..... | n     | ..... | n+a-1 | n+a   | ..... |n-o+1+h|
-            |observation is used | YES   | YES   | YES   | NO    | NO    | NO    | NO    | NO    | NO    |
+            |timestep            | n-o+1 | n-o+2 | ..... | n     | ..... | n+a-1 | n+a   | ..... | n-o+h |
+            |observation is used | YES   | YES   | YES   | YES   | NO    | NO    | NO    | NO    | NO    |
             |action is generated | YES   | YES   | YES   | YES   | YES   | YES   | YES   | YES   | YES   |
             |action is used      | NO    | NO    | NO    | YES   | YES   | YES   | NO    | NO    | NO    |
             ----------------------------------------------------------------------------------------------
-        Note that this means we require: `n_action_steps < horizon - n_obs_steps + 1`. Also, note that
+        Note that this means we require: `n_action_steps <= horizon - n_obs_steps + 1`. Also, note that
         "horizon" may not the best name to describe what the variable actually means, because this period is
         actually measured from the first observation which (if `n_obs_steps` > 1) happened in the past.
         """