Handle new config with sac

2025-03-24 20:19:28 +00:00
parent bb5a95889f
commit 80d566eb56
4 changed files with 242 additions and 240 deletions
--- a/lerobot/common/policies/factory.py
+++ b/lerobot/common/policies/factory.py
@@ -60,10 +60,9 @@ def get_policy_class(name: str) -> PreTrainedPolicy:

        return PI0FASTPolicy
    elif name == "sac":
-        from lerobot.common.policies.sac.configuration_sac import SACConfig
        from lerobot.common.policies.sac.modeling_sac import SACPolicy

-        return SACPolicy, SACConfig
+        return SACPolicy
    else:
        raise NotImplementedError(f"Policy with name {name} is not implemented.")