From ad7eea132d3796edb1911c3c69a08bda8f416148 Mon Sep 17 00:00:00 2001
From: Michel Aractingi <michel.aractingi@huggingface.co>
Date: Mon, 23 Dec 2024 14:12:03 +0100
Subject: [PATCH] added optimizer and sac to factory.py

---
 lerobot/common/policies/factory.py               | 6 ++++++
 lerobot/common/policies/sac/configuration_sac.py | 1 +
 2 files changed, 7 insertions(+)

diff --git a/lerobot/common/policies/factory.py b/lerobot/common/policies/factory.py
index 8def95a3..3519f077 100644
--- a/lerobot/common/policies/factory.py
+++ b/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.")
 
diff --git a/lerobot/common/policies/sac/configuration_sac.py b/lerobot/common/policies/sac/configuration_sac.py
index d324462e..6db198e8 100644
--- a/lerobot/common/policies/sac/configuration_sac.py
+++ b/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 = {