added optimizer and sac to factory.py

lerobot/common/policies/factory.py

@@ -59,6 +59,12 @@ def get_policy_class(name: str) -> PreTrainedPolicy:
         from lerobot.common.policies.pi0fast.modeling_pi0fast import PI0FASTPolicy
 
         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
+
     else:
         raise NotImplementedError(f"Policy with name {name} is not implemented.")
 

lerobot/common/policies/sac/configuration_sac.py

@@ -26,6 +26,7 @@ class SACConfig:
     num_subsample_critics = None
     critic_lr = 3e-4
     actor_lr = 3e-4
+    temperature_lr = 3e-4
     critic_target_update_weight = 0.005
     utd_ratio = 2
     critic_network_kwargs = {