From 43e303ba4c6fe420b8066586c6f74bac46dfdb29 Mon Sep 17 00:00:00 2001 From: A Norman Redlich Date: Mon, 11 Aug 2025 16:48:23 -0400 Subject: [PATCH] Add type field to ACT and Diffusion policy configurations --- lerobot/common/policies/act/configuration_act.py | 1 + lerobot/common/policies/diffusion/configuration_diffusion.py | 1 + 2 files changed, 2 insertions(+) diff --git a/lerobot/common/policies/act/configuration_act.py b/lerobot/common/policies/act/configuration_act.py index 7a5819b749..8ad5e27e5c 100644 --- a/lerobot/common/policies/act/configuration_act.py +++ b/lerobot/common/policies/act/configuration_act.py @@ -91,6 +91,7 @@ class ACTConfig(PreTrainedConfig): """ # Input / output structure. + type: str = "act" n_obs_steps: int = 1 chunk_size: int = 100 n_action_steps: int = 100 diff --git a/lerobot/common/policies/diffusion/configuration_diffusion.py b/lerobot/common/policies/diffusion/configuration_diffusion.py index e73c65fe9a..577fcbc646 100644 --- a/lerobot/common/policies/diffusion/configuration_diffusion.py +++ b/lerobot/common/policies/diffusion/configuration_diffusion.py @@ -104,6 +104,7 @@ class DiffusionConfig(PreTrainedConfig): """ # Inputs / output structure. + type: str = "diffusion" n_obs_steps: int = 2 horizon: int = 16 n_action_steps: int = 8