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

lerobot/scripts/train.py

@@ -11,10 +11,9 @@ from torchrl.data.datasets.openx import OpenXExperienceReplay
 from torchrl.data.replay_buffers import PrioritizedSliceSampler
 
 from lerobot.common.datasets.factory import make_offline_buffer
-from lerobot.common.datasets.simxarm import SimxarmExperienceReplay
 from lerobot.common.envs.factory import make_env
 from lerobot.common.logger import Logger
-from lerobot.common.tdmpc import TDMPC
+from lerobot.common.policies.factory import make_policy
 from lerobot.common.utils import set_seed
 from lerobot.scripts.eval import eval_policy
 
@@ -51,17 +50,7 @@ def train(cfg: dict, out_dir=None, job_name=None):
     print(colored("Work dir:", "yellow", attrs=["bold"]), out_dir)
 
     env = make_env(cfg)
-    policy = TDMPC(cfg)
-    if cfg.pretrained_model_path:
-        # TODO(rcadene): hack for old pretrained models from fowm
-        if "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)
+    policy = make_policy(cfg)
 
     td_policy = TensorDictModule(
         policy,