Add policies/factory, Add test, Add _self_ in config

lerobot/common/policies/factory.py

@@ -0,0 +1,21 @@
+from lerobot.common.policies.tdmpc import TDMPC
+
+
+def make_policy(cfg):
+    if cfg.policy == "tdmpc":
+        policy = TDMPC(cfg)
+    else:
+        raise ValueError(cfg.policy)
+
+    if cfg.pretrained_model_path:
+        # TODO(rcadene): hack for old pretrained models from fowm
+        if cfg.policy == "tdmpc" and "fowm" in cfg.pretrained_model_path:
+            if "offline" in cfg.pretrained_model_path:
+                policy.step[0] = 25000
+            elif "final" in cfg.pretrained_model_path:
+                policy.step[0] = 100000
+            else:
+                raise NotImplementedError()
+        policy.load(cfg.pretrained_model_path)
+
+    return policy

lerobot/common/policies/tdmpc.py

@@ -5,7 +5,7 @@ import numpy as np
 import torch
 import torch.nn as nn
 
-import lerobot.common.tdmpc_helper as h
+import lerobot.common.policies.tdmpc_helper as h
 
 
 class TOLD(nn.Module):