added optimizer and sac to factory.py

lerobot/scripts/train.py

@@ -93,6 +93,15 @@ def make_optimizer_and_scheduler(cfg, policy):
     elif policy.name == "tdmpc":
         optimizer = torch.optim.Adam(policy.parameters(), cfg.training.lr)
         lr_scheduler = None
+
+    elif policy.name == "sac":
+        optimizer = torch.optim.Adam([
+			{'params': policy.actor.parameters(), 'lr': policy.config.actor_lr},
+            {'params': policy.critic_ensemble.parameters(), 'lr': policy.config.critic_lr},
+			{'params': policy.temperature.parameters(), 'lr': policy.config.temperature_lr},
+            ])
+        lr_scheduler = None		
+
     elif cfg.policy.name == "vqbet":
         from lerobot.common.policies.vqbet.modeling_vqbet import VQBeTOptimizer, VQBeTScheduler