refactor(policies): rename policies/sac → policies/gaussian_actor

docs/source/hilserl.mdx

@@ -820,10 +820,10 @@ The LeRobot system uses a distributed actor-learner architecture for training. T
 
 Create a training configuration file (example available [here](https://huggingface.co/datasets/lerobot/config_examples/resolve/main/rl/train_config.json)). The training config is based on the main `TrainRLServerPipelineConfig` class in `lerobot/configs/train.py`.
 
-1. Configure the policy settings (`type="sac"`, `device`, etc.)
+1. Configure the policy settings (`type="gaussian_actor"`, `device`, etc.)
 2. Set `dataset` to your cropped dataset
 3. Configure environment settings with crop parameters
-4. Check the other parameters related to SAC in [configuration_sac.py](https://github.com/huggingface/lerobot/blob/main/src/lerobot/policies/sac/configuration_sac.py#L79).
+4. Check the other parameters related to the Gaussian Actor in [configuration_gaussian_actor.py](https://github.com/huggingface/lerobot/blob/main/src/lerobot/policies/gaussian_actor/configuration_gaussian_actor.py#L79).
 5. Verify that the `policy` config is correct with the right `input_features` and `output_features` for your task.
 
 **Starting the Learner**

examples/tutorial/rl/hilserl_example.py

@@ -7,9 +7,9 @@ import torch
 
 from lerobot.datasets import LeRobotDataset
 from lerobot.envs.configs import HILSerlProcessorConfig, HILSerlRobotEnvConfig
-from lerobot.policies import SACConfig
+from lerobot.policies import GaussianActorConfig
-from lerobot.policies.sac.modeling_sac import SACPolicy
+from lerobot.policies.gaussian_actor.modeling_gaussian_actor import GaussianActorPolicy
-from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
+from lerobot.policies.gaussian_actor.reward_model.modeling_classifier import Classifier
 from lerobot.rl.algorithms.sac import SACAlgorithm, SACAlgorithmConfig
 from lerobot.rl.buffer import ReplayBuffer
 from lerobot.rl.gym_manipulator import make_robot_env
@@ -28,7 +28,7 @@ def run_learner(
     transitions_queue: mp.Queue,
     parameters_queue: mp.Queue,
     shutdown_event: mp.Event,
-    policy_learner: SACPolicy,
+    policy_learner: GaussianActorPolicy,
     online_buffer: ReplayBuffer,
     offline_buffer: ReplayBuffer,
     lr: float = 3e-4,
@@ -116,7 +116,7 @@ def run_actor(
     transitions_queue: mp.Queue,
     parameters_queue: mp.Queue,
     shutdown_event: mp.Event,
-    policy_actor: SACPolicy,
+    policy_actor: GaussianActorPolicy,
     reward_classifier: Classifier,
     env_cfg: HILSerlRobotEnvConfig,
     device: torch.device = "mps",
@@ -264,14 +264,14 @@ def main():
     action_features = hw_to_dataset_features(env.robot.action_features, "action")
 
     # Create SAC policy for action selection
-    policy_cfg = SACConfig(
+    policy_cfg = GaussianActorConfig(
         device=device,
         input_features=obs_features,
         output_features=action_features,
     )
 
-    policy_actor = SACPolicy(policy_cfg)
+    policy_actor = GaussianActorPolicy(policy_cfg)
-    policy_learner = SACPolicy(policy_cfg)
+    policy_learner = GaussianActorPolicy(policy_cfg)
 
     demonstrations_repo_id = "lerobot/example_hil_serl_dataset"
     offline_dataset = LeRobotDataset(repo_id=demonstrations_repo_id)

src/lerobot/policies/__init__.py

@@ -15,6 +15,10 @@
 from .act.configuration_act import ACTConfig as ACTConfig
 from .diffusion.configuration_diffusion import DiffusionConfig as DiffusionConfig
 from .factory import get_policy_class, make_policy, make_policy_config, make_pre_post_processors
+from .gaussian_actor.configuration_gaussian_actor import GaussianActorConfig as GaussianActorConfig
+from .gaussian_actor.reward_model.configuration_classifier import (
+    RewardClassifierConfig as RewardClassifierConfig,
+)
 from .groot.configuration_groot import GrootConfig as GrootConfig
 from .multi_task_dit.configuration_multi_task_dit import MultiTaskDiTConfig as MultiTaskDiTConfig
 from .pi0.configuration_pi0 import PI0Config as PI0Config
@@ -22,8 +26,6 @@ from .pi0_fast.configuration_pi0_fast import PI0FastConfig as PI0FastConfig
 from .pi05.configuration_pi05 import PI05Config as PI05Config
 from .pretrained import PreTrainedPolicy as PreTrainedPolicy
 from .rtc import ActionInterpolator as ActionInterpolator
-from .sac.configuration_sac import SACConfig as SACConfig
-from .sac.reward_model.configuration_classifier import RewardClassifierConfig as RewardClassifierConfig
 from .sarm.configuration_sarm import SARMConfig as SARMConfig
 from .smolvla.configuration_smolvla import SmolVLAConfig as SmolVLAConfig
 from .tdmpc.configuration_tdmpc import TDMPCConfig as TDMPCConfig
@@ -32,21 +34,21 @@ from .vqbet.configuration_vqbet import VQBeTConfig as VQBeTConfig
 from .wall_x.configuration_wall_x import WallXConfig as WallXConfig
 from .xvla.configuration_xvla import XVLAConfig as XVLAConfig
 
-# NOTE: Policy modeling classes (e.g., SACPolicy) are intentionally NOT re-exported here.
+# NOTE: Policy modeling classes (e.g., GaussianActorPolicy) are intentionally NOT re-exported here.
 # They have heavy optional dependencies and are loaded lazily via get_policy_class().
-# Import directly: ``from lerobot.policies.sac.modeling_sac import SACPolicy``
+# Import directly: ``from lerobot.policies.gaussian_actor.modeling_gaussian_actor import GaussianActorPolicy``
 
 __all__ = [
     # Configuration classes
     "ACTConfig",
     "DiffusionConfig",
+    "GaussianActorConfig",
     "GrootConfig",
     "MultiTaskDiTConfig",
     "PI0Config",
     "PI0FastConfig",
     "PI05Config",
     "RewardClassifierConfig",
-    "SACConfig",
     "SARMConfig",
     "SmolVLAConfig",
     "TDMPCConfig",

src/lerobot/policies/factory.py

@@ -46,13 +46,13 @@ from lerobot.utils.feature_utils import dataset_to_policy_features
 
 from .act.configuration_act import ACTConfig
 from .diffusion.configuration_diffusion import DiffusionConfig
+from .gaussian_actor.configuration_gaussian_actor import GaussianActorConfig
+from .gaussian_actor.reward_model.configuration_classifier import RewardClassifierConfig
 from .groot.configuration_groot import GrootConfig
 from .multi_task_dit.configuration_multi_task_dit import MultiTaskDiTConfig
 from .pi0.configuration_pi0 import PI0Config
 from .pi05.configuration_pi05 import PI05Config
 from .pretrained import PreTrainedPolicy
-from .sac.configuration_sac import SACConfig
-from .sac.reward_model.configuration_classifier import RewardClassifierConfig
 from .sarm.configuration_sarm import SARMConfig
 from .smolvla.configuration_smolvla import SmolVLAConfig
 from .tdmpc.configuration_tdmpc import TDMPCConfig
@@ -89,7 +89,7 @@ def get_policy_class(name: str) -> type[PreTrainedPolicy]:
 
     Args:
         name: The name of the policy. Supported names are "tdmpc", "diffusion", "act",
-            "multi_task_dit", "vqbet", "pi0", "pi05", "sac", "reward_classifier", "smolvla", "wall_x".
+            "multi_task_dit", "vqbet", "pi0", "pi05", "gaussian_actor", "reward_classifier", "smolvla", "wall_x".
     Returns:
         The policy class corresponding to the given name.
 
@@ -128,12 +128,12 @@ def get_policy_class(name: str) -> type[PreTrainedPolicy]:
         from .pi05.modeling_pi05 import PI05Policy
 
         return PI05Policy
-    elif name == "sac":
+    elif name == "gaussian_actor":
-        from .sac.modeling_sac import SACPolicy
+        from .gaussian_actor.modeling_gaussian_actor import GaussianActorPolicy
 
-        return SACPolicy
+        return GaussianActorPolicy
     elif name == "reward_classifier":
-        from .sac.reward_model.modeling_classifier import Classifier
+        from .gaussian_actor.reward_model.modeling_classifier import Classifier
 
         return Classifier
     elif name == "smolvla":
@@ -172,7 +172,7 @@ def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
 
     Args:
         policy_type: The type of the policy. Supported types include "tdmpc",
-                     "multi_task_dit", "diffusion", "act", "vqbet", "pi0", "pi05", "sac",
+                     "multi_task_dit", "diffusion", "act", "vqbet", "pi0", "pi05", "gaussian_actor",
                      "smolvla", "reward_classifier", "wall_x".
         **kwargs: Keyword arguments to be passed to the configuration class constructor.
 
@@ -196,8 +196,8 @@ def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
         return PI0Config(**kwargs)
     elif policy_type == "pi05":
         return PI05Config(**kwargs)
-    elif policy_type == "sac":
+    elif policy_type == "gaussian_actor":
-        return SACConfig(**kwargs)
+        return GaussianActorConfig(**kwargs)
     elif policy_type == "smolvla":
         return SmolVLAConfig(**kwargs)
     elif policy_type == "reward_classifier":
@@ -370,16 +370,16 @@ def make_pre_post_processors(
             dataset_stats=kwargs.get("dataset_stats"),
         )
 
-    elif isinstance(policy_cfg, SACConfig):
+    elif isinstance(policy_cfg, GaussianActorConfig):
-        from .sac.processor_sac import make_sac_pre_post_processors
+        from .gaussian_actor.processor_gaussian_actor import make_gaussian_actor_pre_post_processors
 
-        processors = make_sac_pre_post_processors(
+        processors = make_gaussian_actor_pre_post_processors(
             config=policy_cfg,
             dataset_stats=kwargs.get("dataset_stats"),
         )
 
     elif isinstance(policy_cfg, RewardClassifierConfig):
-        from .sac.reward_model.processor_classifier import make_classifier_processor
+        from .gaussian_actor.reward_model.processor_classifier import make_classifier_processor
 
         processors = make_classifier_processor(
             config=policy_cfg,

src/lerobot/policies/gaussian_actor/__init__.py

@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .configuration_sac import SACConfig
+from .configuration_gaussian_actor import GaussianActorConfig
-from .modeling_sac import SACPolicy
+from .modeling_gaussian_actor import GaussianActorPolicy
-from .processor_sac import make_sac_pre_post_processors
+from .processor_gaussian_actor import make_gaussian_actor_pre_post_processors
 
-__all__ = ["SACConfig", "SACPolicy", "make_sac_pre_post_processors"]
+__all__ = ["GaussianActorConfig", "GaussianActorPolicy", "make_gaussian_actor_pre_post_processors"]

src/lerobot/policies/gaussian_actor/configuration_gaussian_actor.py

@@ -75,18 +75,19 @@ class PolicyConfig:
     init_final: float = 0.05
 
 
-@PreTrainedConfig.register_subclass("sac")
+@PreTrainedConfig.register_subclass("gaussian_actor")
 @dataclass
-class SACConfig(PreTrainedConfig):
+class GaussianActorConfig(PreTrainedConfig):
-    """Soft Actor-Critic (SAC) configuration.
+    """Gaussian actor configuration.
 
-    SAC is an off-policy actor-critic deep RL algorithm based on the maximum entropy
+    This configures the policy-side (actor + observation encoder) of a Gaussian
-    reinforcement learning framework. It learns a policy and a Q-function simultaneously
+    policy, as used by SAC and related maximum-entropy continuous-control algorithms.
-    using experience collected from the environment.
+    By default the actor output is a tanh-squashed diagonal Gaussian
+    (``TanhMultivariateNormalDiag``); the tanh squashing can be disabled via
+    ``policy_kwargs.use_tanh_squash``. The critics, temperature, and Bellman-update
+    logic live on the algorithm side (see ``lerobot.rl.algorithms.sac``).
 
-    This configuration class contains all the parameters needed to define a SAC agent,
+    CLI: ``--policy.type=gaussian_actor``.
-    including network architectures, optimization settings, and algorithm-specific
-    hyperparameters.
     """
 
     # Mapping of feature types to normalization modes

src/lerobot/policies/gaussian_actor/modeling_gaussian_actor.py

@@ -29,22 +29,29 @@ from lerobot.utils.constants import ACTION, OBS_ENV_STATE, OBS_STATE
 
 from ..pretrained import PreTrainedPolicy
 from ..utils import get_device_from_parameters
-from .configuration_sac import SACConfig, is_image_feature
+from .configuration_gaussian_actor import GaussianActorConfig, is_image_feature
 
 DISCRETE_DIMENSION_INDEX = -1  # Gripper is always the last dimension
 
 
-class SACPolicy(
+class GaussianActorPolicy(
     PreTrainedPolicy,
 ):
-    """SAC policy."""
+    """Gaussian actor + observation encoder.
 
-    config_class = SACConfig
+    Policy-side ``nn.Module`` used by SAC and related maximum-entropy continuous
-    name = "sac"
+    control algorithms. It owns the actor network (``Policy``) and the observation
+    encoder (``GaussianActorObservationEncoder``); the critics, temperature, and
+    Bellman-update logic live on the algorithm side
+    (see ``lerobot.rl.algorithms.sac``).
+    """
+
+    config_class = GaussianActorConfig
+    name = "gaussian_actor"
 
     def __init__(
         self,
-        config: SACConfig | None = None,
+        config: GaussianActorConfig | None = None,
     ):
         super().__init__(config)
         config.validate_features()
@@ -73,7 +80,9 @@ class SACPolicy(
     @torch.no_grad()
     def predict_action_chunk(self, batch: dict[str, Tensor]) -> Tensor:
         """Predict a chunk of actions given environment observations."""
-        raise NotImplementedError("SACPolicy does not support action chunking. It returns single actions!")
+        raise NotImplementedError(
+            "GaussianActorPolicy does not support action chunking. It returns single actions!"
+        )
 
     @torch.no_grad()
     def select_action(self, batch: dict[str, Tensor]) -> Tensor:
@@ -133,9 +142,9 @@ class SACPolicy(
     def _init_encoders(self):
         """Initialize shared or separate encoders for actor and critic."""
         self.shared_encoder = self.config.shared_encoder
-        self.encoder_critic = SACObservationEncoder(self.config)
+        self.encoder_critic = GaussianActorObservationEncoder(self.config)
         self.encoder_actor = (
-            self.encoder_critic if self.shared_encoder else SACObservationEncoder(self.config)
+            self.encoder_critic if self.shared_encoder else GaussianActorObservationEncoder(self.config)
         )
 
     def _init_actor(self, continuous_action_dim):
@@ -155,10 +164,10 @@ class SACPolicy(
             self.target_entropy = -np.prod(dim) / 2
 
 
-class SACObservationEncoder(nn.Module):
+class GaussianActorObservationEncoder(nn.Module):
     """Encode image and/or state vector observations."""
 
-    def __init__(self, config: SACConfig) -> None:
+    def __init__(self, config: GaussianActorConfig) -> None:
         super().__init__()
         self.config = config
         self._init_image_layers()
@@ -411,7 +420,7 @@ class DiscreteCritic(nn.Module):
 class Policy(nn.Module):
     def __init__(
         self,
-        encoder: SACObservationEncoder,
+        encoder: GaussianActorObservationEncoder,
         network: nn.Module,
         action_dim: int,
         std_min: float = -5,
@@ -422,7 +431,7 @@ class Policy(nn.Module):
         encoder_is_shared: bool = False,
     ):
         super().__init__()
-        self.encoder: SACObservationEncoder = encoder
+        self.encoder: GaussianActorObservationEncoder = encoder
         self.network = network
         self.action_dim = action_dim
         self.std_min = std_min
@@ -496,7 +505,7 @@ class Policy(nn.Module):
 
 
 class DefaultImageEncoder(nn.Module):
-    def __init__(self, config: SACConfig):
+    def __init__(self, config: GaussianActorConfig):
         super().__init__()
         image_key = next(key for key in config.input_features if is_image_feature(key))
         self.image_enc_layers = nn.Sequential(
@@ -542,12 +551,12 @@ def freeze_image_encoder(image_encoder: nn.Module):
 
 
 class PretrainedImageEncoder(nn.Module):
-    def __init__(self, config: SACConfig):
+    def __init__(self, config: GaussianActorConfig):
         super().__init__()
 
         self.image_enc_layers, self.image_enc_out_shape = self._load_pretrained_vision_encoder(config)
 
-    def _load_pretrained_vision_encoder(self, config: SACConfig):
+    def _load_pretrained_vision_encoder(self, config: GaussianActorConfig):
         """Set up CNN encoder"""
         from transformers import AutoModel
 

src/lerobot/policies/gaussian_actor/processor_gaussian_actor.py

@@ -32,18 +32,18 @@ from lerobot.processor import (
 )
 from lerobot.utils.constants import POLICY_POSTPROCESSOR_DEFAULT_NAME, POLICY_PREPROCESSOR_DEFAULT_NAME
 
-from .configuration_sac import SACConfig
+from .configuration_gaussian_actor import GaussianActorConfig
 
 
-def make_sac_pre_post_processors(
+def make_gaussian_actor_pre_post_processors(
-    config: SACConfig,
+    config: GaussianActorConfig,
     dataset_stats: dict[str, dict[str, torch.Tensor]] | None = None,
 ) -> tuple[
     PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
     PolicyProcessorPipeline[PolicyAction, PolicyAction],
 ]:
     """
-    Constructs pre-processor and post-processor pipelines for the SAC policy.
+    Constructs pre-processor and post-processor pipelines for the Gaussian actor policy.
 
     The pre-processing pipeline prepares input data for the model by:
     1. Renaming features to match pretrained configurations.
@@ -56,7 +56,7 @@ def make_sac_pre_post_processors(
     2. Unnormalizing the output features to their original scale.
 
     Args:
-        config: The configuration object for the SAC policy.
+        config: The configuration object for the tanh-Gaussian policy.
         dataset_stats: A dictionary of statistics for normalization.
 
     Returns:

src/lerobot/processor/hil_processor.py

@@ -557,7 +557,7 @@ class RewardClassifierProcessorStep(ProcessorStep):
     def __post_init__(self):
         """Initializes the reward classifier model after the dataclass is created."""
         if self.pretrained_path is not None:
-            from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
+            from lerobot.policies.gaussian_actor.reward_model.modeling_classifier import Classifier
 
             self.reward_classifier = Classifier.from_pretrained(self.pretrained_path)
             self.reward_classifier.to(self.device)

src/lerobot/rl/actor.py

@@ -251,7 +251,7 @@ def act_with_policy(
     logging.info("make_policy")
 
     ### Instantiate the policy in both the actor and learner processes
-    ### To avoid sending a SACPolicy object through the port, we create a policy instance
+    ### To avoid sending a policy object through the port, we create a policy instance
     ### on both sides, the learner sends the updated parameters every n steps to update the actor's parameters
     policy = make_policy(
         cfg=cfg.policy,

src/lerobot/rl/algorithms/sac/configuration_sac.py

@@ -19,7 +19,10 @@ from typing import TYPE_CHECKING
 
 import torch
 
-from lerobot.policies.sac.configuration_sac import CriticNetworkConfig, SACConfig
+from lerobot.policies.gaussian_actor.configuration_gaussian_actor import (
+    CriticNetworkConfig,
+    GaussianActorConfig,
+)
 from lerobot.rl.algorithms.configs import RLAlgorithmConfig
 
 if TYPE_CHECKING:
@@ -32,7 +35,7 @@ class SACAlgorithmConfig(RLAlgorithmConfig):
     """SAC algorithm hyperparameters."""
 
     # Policy config
-    sac_config: SACConfig
+    sac_config: GaussianActorConfig
 
     # Optimizer learning rates
     actor_lr: float = 3e-4
@@ -59,7 +62,7 @@ class SACAlgorithmConfig(RLAlgorithmConfig):
     grad_clip_norm: float = 40.0
 
     @classmethod
-    def from_policy_config(cls, policy_cfg: SACConfig) -> SACAlgorithmConfig:
+    def from_policy_config(cls, policy_cfg: GaussianActorConfig) -> SACAlgorithmConfig:
         """Build an algorithm config by copying hyperparameters from the policy config."""
         return cls(
             actor_lr=policy_cfg.actor_lr,

src/lerobot/rl/algorithms/sac/sac_algorithm.py

@@ -26,12 +26,12 @@ import torch.nn.functional as F  # noqa: N812
 from torch import Tensor
 from torch.optim import Optimizer
 
-from lerobot.policies.sac.modeling_sac import (
+from lerobot.policies.gaussian_actor.modeling_gaussian_actor import (
     DISCRETE_DIMENSION_INDEX,
     MLP,
     DiscreteCritic,
-    SACObservationEncoder,
+    GaussianActorObservationEncoder,
-    SACPolicy,
+    GaussianActorPolicy,
     orthogonal_init,
 )
 from lerobot.policies.utils import get_device_from_parameters
@@ -50,7 +50,7 @@ class SACAlgorithm(RLAlgorithm):
 
     def __init__(
         self,
-        policy: SACPolicy,
+        policy: GaussianActorPolicy,
         config: SACAlgorithmConfig,
     ):
         self.config = config
@@ -100,7 +100,9 @@ class SACAlgorithm(RLAlgorithm):
             self.discrete_critic, self.discrete_critic_target = self._init_discrete_critics(encoder)
             self.policy.discrete_critic = self.discrete_critic
 
-    def _init_discrete_critics(self, encoder: SACObservationEncoder) -> tuple[DiscreteCritic, DiscreteCritic]:
+    def _init_discrete_critics(
+        self, encoder: GaussianActorObservationEncoder
+    ) -> tuple[DiscreteCritic, DiscreteCritic]:
         """Build discrete critic ensemble and target networks."""
         discrete_critic = DiscreteCritic(
             encoder=encoder,
@@ -557,7 +559,7 @@ class CriticEnsemble(nn.Module):
     CriticEnsemble wraps multiple CriticHead modules into an ensemble.
 
     Args:
-        encoder (SACObservationEncoder): encoder for observations.
+        encoder (GaussianActorObservationEncoder): encoder for observations.
         ensemble (List[CriticHead]): list of critic heads.
         init_final (float | None): optional initializer scale for final layers.
 
@@ -566,7 +568,7 @@ class CriticEnsemble(nn.Module):
 
     def __init__(
         self,
-        encoder: SACObservationEncoder,
+        encoder: GaussianActorObservationEncoder,
         ensemble: list[CriticHead],
         init_final: float | None = None,
     ):

src/lerobot/templates/lerobot_modelcard_template.md

@@ -39,8 +39,8 @@ For more details, see the [Physical Intelligence π₀ blog post](https://www.ph
 π₀.₅ represents a significant evolution from π₀, developed by Physical Intelligence to address a big challenge in robotics: open-world generalization. While robots can perform impressive tasks in controlled environments, π₀.₅ is designed to generalize to entirely new environments and situations that were never seen during training.
 
 For more details, see the [Physical Intelligence π₀.₅ blog post](https://www.physicalintelligence.company/blog/pi05).
-{% elif model_name == "sac" %}
+{% elif model_name == "gaussian_actor" %}
-[Soft Actor-Critic (SAC)](https://huggingface.co/papers/1801.01290) is an entropy-regularised actor-critic algorithm offering stable, sample-efficient learning in continuous-control environments.
+This is a Gaussian Actor policy (Gaussian policy with a tanh squash) — the policy-side component used by [Soft Actor-Critic (SAC)](https://huggingface.co/papers/1801.01290) and related maximum-entropy continuous-control algorithms.
 {% elif model_name == "reward_classifier" %}
 A reward classifier is a lightweight neural network that scores observations or trajectories for task success, providing a learned reward signal or offline evaluation when explicit rewards are unavailable.
 {% else %}

tests/policies/hilserl/test_modeling_classifier.py

@@ -17,8 +17,8 @@
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
+from lerobot.policies.gaussian_actor.reward_model.configuration_classifier import RewardClassifierConfig
-from lerobot.policies.sac.reward_model.modeling_classifier import ClassifierOutput
+from lerobot.policies.gaussian_actor.reward_model.modeling_classifier import ClassifierOutput
 from lerobot.utils.constants import OBS_IMAGE, REWARD
 from tests.utils import skip_if_package_missing
 
@@ -38,7 +38,7 @@ def test_classifier_output():
 
 @skip_if_package_missing("transformers")
 def test_binary_classifier_with_default_params():
-    from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
+    from lerobot.policies.gaussian_actor.reward_model.modeling_classifier import Classifier
 
     config = RewardClassifierConfig()
     config.input_features = {
@@ -79,7 +79,7 @@ def test_binary_classifier_with_default_params():
 
 @skip_if_package_missing("transformers")
 def test_multiclass_classifier():
-    from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
+    from lerobot.policies.gaussian_actor.reward_model.modeling_classifier import Classifier
 
     num_classes = 5
     config = RewardClassifierConfig()
@@ -118,7 +118,7 @@ def test_multiclass_classifier():
 
 @skip_if_package_missing("transformers")
 def test_default_device():
-    from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
+    from lerobot.policies.gaussian_actor.reward_model.modeling_classifier import Classifier
 
     config = RewardClassifierConfig()
     assert config.device == "cpu"
@@ -130,7 +130,7 @@ def test_default_device():
 
 @skip_if_package_missing("transformers")
 def test_explicit_device_setup():
-    from lerobot.policies.sac.reward_model.modeling_classifier import Classifier
+    from lerobot.policies.gaussian_actor.reward_model.modeling_classifier import Classifier
 
     config = RewardClassifierConfig(device="cpu")
     assert config.device == "cpu"

tests/policies/test_gaussian_actor_config.py

@@ -17,19 +17,19 @@
 import pytest
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.policies.sac.configuration_sac import (
+from lerobot.policies.gaussian_actor.configuration_gaussian_actor import (
     ActorLearnerConfig,
     ActorNetworkConfig,
     ConcurrencyConfig,
     CriticNetworkConfig,
+    GaussianActorConfig,
     PolicyConfig,
-    SACConfig,
 )
 from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
 
 
-def test_sac_config_default_initialization():
+def test_gaussian_actor_config_default_initialization():
-    config = SACConfig()
+    config = GaussianActorConfig()
 
     assert config.normalization_mapping == {
         "VISUAL": NormalizationMode.MEAN_STD,
@@ -175,8 +175,8 @@ def test_concurrency_config():
     assert config.learner == "threads"
 
 
-def test_sac_config_custom_initialization():
+def test_gaussian_actor_config_custom_initialization():
-    config = SACConfig(
+    config = GaussianActorConfig(
         device="cpu",
         discount=0.95,
         temperature_init=0.5,
@@ -190,7 +190,7 @@ def test_sac_config_custom_initialization():
 
 
 def test_validate_features():
-    config = SACConfig(
+    config = GaussianActorConfig(
         input_features={OBS_STATE: PolicyFeature(type=FeatureType.STATE, shape=(10,))},
         output_features={ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(3,))},
     )
@@ -198,7 +198,7 @@ def test_validate_features():
 
 
 def test_validate_features_missing_observation():
-    config = SACConfig(
+    config = GaussianActorConfig(
         input_features={"wrong_key": PolicyFeature(type=FeatureType.STATE, shape=(10,))},
         output_features={ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(3,))},
     )
@@ -209,7 +209,7 @@ def test_validate_features_missing_observation():
 
 
 def test_validate_features_missing_action():
-    config = SACConfig(
+    config = GaussianActorConfig(
         input_features={OBS_STATE: PolicyFeature(type=FeatureType.STATE, shape=(10,))},
         output_features={"wrong_key": PolicyFeature(type=FeatureType.ACTION, shape=(3,))},
     )

tests/policies/test_gaussian_actor_policy.py

@@ -22,8 +22,8 @@ import torch
 from torch import Tensor, nn
 
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.policies.sac.configuration_sac import SACConfig
+from lerobot.policies.gaussian_actor.configuration_gaussian_actor import GaussianActorConfig
-from lerobot.policies.sac.modeling_sac import MLP, SACPolicy
+from lerobot.policies.gaussian_actor.modeling_gaussian_actor import MLP, GaussianActorPolicy
 from lerobot.rl.algorithms.sac import SACAlgorithm, SACAlgorithmConfig
 from lerobot.utils.constants import ACTION, OBS_IMAGE, OBS_STATE
 from lerobot.utils.random_utils import seeded_context, set_seed
@@ -81,9 +81,9 @@ def test_mlp_with_custom_final_activation():
     assert (y >= -1).all() and (y <= 1).all()
 
 
-def test_sac_policy_with_default_args():
+def test_gaussian_actor_policy_with_default_args():
     with pytest.raises(ValueError, match="should be an instance of class `PreTrainedConfig`"):
-        SACPolicy()
+        GaussianActorPolicy()
 
 
 def create_dummy_state(batch_size: int, state_dim: int = 10) -> Tensor:
@@ -142,12 +142,12 @@ def create_observation_batch_with_visual_input(batch_size: int = 8, state_dim: i
 
 def create_default_config(
     state_dim: int, continuous_action_dim: int, has_discrete_action: bool = False
-) -> SACConfig:
+) -> GaussianActorConfig:
     action_dim = continuous_action_dim
     if has_discrete_action:
         action_dim += 1
 
-    config = SACConfig(
+    config = GaussianActorConfig(
         input_features={OBS_STATE: PolicyFeature(type=FeatureType.STATE, shape=(state_dim,))},
         output_features={ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(continuous_action_dim,))},
         dataset_stats={
@@ -167,7 +167,7 @@ def create_default_config(
 
 def create_config_with_visual_input(
     state_dim: int, continuous_action_dim: int, has_discrete_action: bool = False
-) -> SACConfig:
+) -> GaussianActorConfig:
     config = create_default_config(
         state_dim=state_dim,
         continuous_action_dim=continuous_action_dim,
@@ -186,9 +186,9 @@ def create_config_with_visual_input(
     return config
 
 
-def _make_algorithm(config: SACConfig) -> tuple[SACAlgorithm, SACPolicy]:
+def _make_algorithm(config: GaussianActorConfig) -> tuple[SACAlgorithm, GaussianActorPolicy]:
     """Helper to create policy + algorithm pair for tests that need critics."""
-    policy = SACPolicy(config=config)
+    policy = GaussianActorPolicy(config=config)
     policy.train()
     algo_config = SACAlgorithmConfig.from_policy_config(config)
     algorithm = SACAlgorithm(policy=policy, config=algo_config)
@@ -197,9 +197,9 @@ def _make_algorithm(config: SACConfig) -> tuple[SACAlgorithm, SACPolicy]:
 
 
 @pytest.mark.parametrize("batch_size,state_dim,action_dim", [(2, 6, 6), (1, 10, 10)])
-def test_sac_policy_select_action(batch_size: int, state_dim: int, action_dim: int):
+def test_gaussian_actor_policy_select_action(batch_size: int, state_dim: int, action_dim: int):
     config = create_default_config(state_dim=state_dim, continuous_action_dim=action_dim)
-    policy = SACPolicy(config=config)
+    policy = GaussianActorPolicy(config=config)
     policy.eval()
 
     with torch.no_grad():
@@ -209,11 +209,11 @@ def test_sac_policy_select_action(batch_size: int, state_dim: int, action_dim: i
         assert selected_action.shape[-1] == action_dim
 
 
-def test_sac_policy_select_action_with_discrete():
+def test_gaussian_actor_policy_select_action_with_discrete():
     """select_action should return continuous + discrete actions."""
     config = create_default_config(state_dim=10, continuous_action_dim=6)
     config.num_discrete_actions = 3
-    policy = SACPolicy(config=config)
+    policy = GaussianActorPolicy(config=config)
     policy.eval()
 
     with torch.no_grad():
@@ -225,9 +225,9 @@ def test_sac_policy_select_action_with_discrete():
 
 
 @pytest.mark.parametrize("batch_size,state_dim,action_dim", [(2, 6, 6), (1, 10, 10)])
-def test_sac_policy_forward(batch_size: int, state_dim: int, action_dim: int):
+def test_gaussian_actor_policy_forward(batch_size: int, state_dim: int, action_dim: int):
     config = create_default_config(state_dim=state_dim, continuous_action_dim=action_dim)
-    policy = SACPolicy(config=config)
+    policy = GaussianActorPolicy(config=config)
     policy.eval()
 
     batch = create_default_train_batch(batch_size=batch_size, action_dim=action_dim, state_dim=state_dim)
@@ -307,7 +307,7 @@ def test_sac_training_with_visual_input(batch_size: int, state_dim: int, action_
     [(1, 6, 6, "lerobot/resnet10"), (1, 6, 6, "facebook/convnext-base-224")],
 )
 @pytest.mark.skipif(not TRANSFORMERS_AVAILABLE, reason="Transformers are not installed")
-def test_sac_policy_with_pretrained_encoder(
+def test_gaussian_actor_policy_with_pretrained_encoder(
     batch_size: int, state_dim: int, action_dim: int, vision_encoder_name: str
 ):
     config = create_config_with_visual_input(state_dim=state_dim, continuous_action_dim=action_dim)
@@ -415,7 +415,7 @@ def test_sac_algorithm_target_entropy_with_discrete_action():
     config = create_config_with_visual_input(state_dim=10, continuous_action_dim=6, has_discrete_action=True)
     config.num_discrete_actions = 5
     algo_config = SACAlgorithmConfig.from_policy_config(config)
-    policy = SACPolicy(config=config)
+    policy = GaussianActorPolicy(config=config)
     algorithm = SACAlgorithm(policy=policy, config=algo_config)
     assert algorithm.target_entropy == -3.5
 
@@ -425,7 +425,7 @@ def test_sac_algorithm_temperature():
 
     config = create_default_config(continuous_action_dim=10, state_dim=10)
     algo_config = SACAlgorithmConfig.from_policy_config(config)
-    policy = SACPolicy(config=config)
+    policy = GaussianActorPolicy(config=config)
     algorithm = SACAlgorithm(policy=policy, config=algo_config)
 
     assert algorithm.temperature == pytest.approx(1.0)
@@ -437,7 +437,7 @@ def test_sac_algorithm_update_target_network():
     config = create_default_config(state_dim=10, continuous_action_dim=6)
     config.critic_target_update_weight = 1.0
     algo_config = SACAlgorithmConfig.from_policy_config(config)
-    policy = SACPolicy(config=config)
+    policy = GaussianActorPolicy(config=config)
     algorithm = SACAlgorithm(policy=policy, config=algo_config)
 
     for p in algorithm.critic_ensemble.parameters():
@@ -472,7 +472,7 @@ def test_sac_algorithm_with_critics_number_of_heads(num_critics: int):
     algorithm.optimizers["critic"].step()
 
 
-def test_sac_policy_save_and_load(tmp_path):
+def test_gaussian_actor_policy_save_and_load(tmp_path):
     """Test that the policy can be saved and loaded from pretrained."""
     root = tmp_path / "test_sac_save_and_load"
 
@@ -481,10 +481,10 @@ def test_sac_policy_save_and_load(tmp_path):
     batch_size = 2
 
     config = create_default_config(state_dim=state_dim, continuous_action_dim=action_dim)
-    policy = SACPolicy(config=config)
+    policy = GaussianActorPolicy(config=config)
     policy.eval()
     policy.save_pretrained(root)
-    loaded_policy = SACPolicy.from_pretrained(root, config=config)
+    loaded_policy = GaussianActorPolicy.from_pretrained(root, config=config)
     loaded_policy.eval()
 
     assert policy.state_dict().keys() == loaded_policy.state_dict().keys()
@@ -503,7 +503,7 @@ def test_sac_policy_save_and_load(tmp_path):
         assert torch.allclose(actions, loaded_actions)
 
 
-def test_sac_policy_save_and_load_with_discrete_critic(tmp_path):
+def test_gaussian_actor_policy_save_and_load_with_discrete_critic(tmp_path):
     """Discrete critic should be saved/loaded as part of the policy."""
     root = tmp_path / "test_sac_save_and_load_discrete"
 
@@ -512,11 +512,11 @@ def test_sac_policy_save_and_load_with_discrete_critic(tmp_path):
 
     config = create_default_config(state_dim=state_dim, continuous_action_dim=action_dim)
     config.num_discrete_actions = 3
-    policy = SACPolicy(config=config)
+    policy = GaussianActorPolicy(config=config)
     policy.eval()
     policy.save_pretrained(root)
 
-    loaded_policy = SACPolicy.from_pretrained(root, config=config)
+    loaded_policy = GaussianActorPolicy.from_pretrained(root, config=config)
     loaded_policy.eval()
 
     assert loaded_policy.discrete_critic is not None

tests/processor/test_classifier_processor.py

@@ -21,8 +21,8 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
+from lerobot.policies.gaussian_actor.reward_model.configuration_classifier import RewardClassifierConfig
-from lerobot.policies.sac.reward_model.processor_classifier import make_classifier_processor
+from lerobot.policies.gaussian_actor.reward_model.processor_classifier import make_classifier_processor
 from lerobot.processor import (
     DataProcessorPipeline,
     DeviceProcessorStep,

tests/processor/test_gaussian_actor_processor.py

@@ -21,8 +21,8 @@ import pytest
 import torch
 
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
-from lerobot.policies.sac.configuration_sac import SACConfig
+from lerobot.policies.gaussian_actor.configuration_gaussian_actor import GaussianActorConfig
-from lerobot.policies.sac.processor_sac import make_sac_pre_post_processors
+from lerobot.policies.gaussian_actor.processor_gaussian_actor import make_gaussian_actor_pre_post_processors
 from lerobot.processor import (
     AddBatchDimensionProcessorStep,
     DataProcessorPipeline,
@@ -38,7 +38,7 @@ from lerobot.utils.constants import ACTION, OBS_STATE
 
 def create_default_config():
     """Create a default SAC configuration for testing."""
-    config = SACConfig()
+    config = GaussianActorConfig()
     config.input_features = {
         OBS_STATE: PolicyFeature(type=FeatureType.STATE, shape=(10,)),
     }
@@ -66,7 +66,7 @@ def test_make_sac_processor_basic():
     config = create_default_config()
     stats = create_default_stats()
 
-    preprocessor, postprocessor = make_sac_pre_post_processors(
+    preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
         config,
         stats,
     )
@@ -88,12 +88,12 @@ def test_make_sac_processor_basic():
     assert isinstance(postprocessor.steps[1], DeviceProcessorStep)
 
 
-def test_sac_processor_normalization_modes():
+def test_gaussian_actor_processor_normalization_modes():
     """Test that SAC processor correctly handles different normalization modes."""
     config = create_default_config()
     stats = create_default_stats()
 
-    preprocessor, postprocessor = make_sac_pre_post_processors(
+    preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
         config,
         stats,
     )
@@ -121,13 +121,13 @@ def test_sac_processor_normalization_modes():
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-def test_sac_processor_cuda():
+def test_gaussian_actor_processor_cuda():
     """Test SAC processor with CUDA device."""
     config = create_default_config()
     config.device = "cuda"
     stats = create_default_stats()
 
-    preprocessor, postprocessor = make_sac_pre_post_processors(
+    preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
         config,
         stats,
     )
@@ -153,13 +153,13 @@ def test_sac_processor_cuda():
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-def test_sac_processor_accelerate_scenario():
+def test_gaussian_actor_processor_accelerate_scenario():
     """Test SAC processor in simulated Accelerate scenario."""
     config = create_default_config()
     config.device = "cuda:0"
     stats = create_default_stats()
 
-    preprocessor, postprocessor = make_sac_pre_post_processors(
+    preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
         config,
         stats,
     )
@@ -180,13 +180,13 @@ def test_sac_processor_accelerate_scenario():
 
 
 @pytest.mark.skipif(torch.cuda.device_count() < 2, reason="Requires at least 2 GPUs")
-def test_sac_processor_multi_gpu():
+def test_gaussian_actor_processor_multi_gpu():
     """Test SAC processor with multi-GPU setup."""
     config = create_default_config()
     config.device = "cuda:0"
     stats = create_default_stats()
 
-    preprocessor, postprocessor = make_sac_pre_post_processors(
+    preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
         config,
         stats,
     )
@@ -206,11 +206,11 @@ def test_sac_processor_multi_gpu():
     assert processed[TransitionKey.ACTION.value].device == device
 
 
-def test_sac_processor_without_stats():
+def test_gaussian_actor_processor_without_stats():
     """Test SAC processor creation without dataset statistics."""
     config = create_default_config()
 
-    preprocessor, postprocessor = make_sac_pre_post_processors(config, dataset_stats=None)
+    preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(config, dataset_stats=None)
 
     # Should still create processors
     assert preprocessor is not None
@@ -226,12 +226,12 @@ def test_sac_processor_without_stats():
     assert processed is not None
 
 
-def test_sac_processor_save_and_load():
+def test_gaussian_actor_processor_save_and_load():
     """Test saving and loading SAC processor."""
     config = create_default_config()
     stats = create_default_stats()
 
-    preprocessor, postprocessor = make_sac_pre_post_processors(
+    preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
         config,
         stats,
     )
@@ -257,14 +257,14 @@ def test_sac_processor_save_and_load():
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-def test_sac_processor_mixed_precision():
+def test_gaussian_actor_processor_mixed_precision():
     """Test SAC processor with mixed precision."""
     config = create_default_config()
     config.device = "cuda"
     stats = create_default_stats()
 
     # Create processor
-    preprocessor, postprocessor = make_sac_pre_post_processors(
+    preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
         config,
         stats,
     )
@@ -304,12 +304,12 @@ def test_sac_processor_mixed_precision():
     assert processed[TransitionKey.ACTION.value].dtype == torch.float16
 
 
-def test_sac_processor_batch_data():
+def test_gaussian_actor_processor_batch_data():
     """Test SAC processor with batched data."""
     config = create_default_config()
     stats = create_default_stats()
 
-    preprocessor, postprocessor = make_sac_pre_post_processors(
+    preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
         config,
         stats,
     )
@@ -329,12 +329,12 @@ def test_sac_processor_batch_data():
     assert processed[TransitionKey.ACTION.value].shape == (batch_size, 5)
 
 
-def test_sac_processor_edge_cases():
+def test_gaussian_actor_processor_edge_cases():
     """Test SAC processor with edge cases."""
     config = create_default_config()
     stats = create_default_stats()
 
-    preprocessor, postprocessor = make_sac_pre_post_processors(
+    preprocessor, postprocessor = make_gaussian_actor_pre_post_processors(
         config,
         stats,
     )
@@ -358,13 +358,13 @@ def test_sac_processor_edge_cases():
 
 
 @pytest.mark.skipif(not torch.cuda.is_available(), reason="CUDA not available")
-def test_sac_processor_bfloat16_device_float32_normalizer():
+def test_gaussian_actor_processor_bfloat16_device_float32_normalizer():
     """Test: DeviceProcessor(bfloat16) + NormalizerProcessor(float32) → output bfloat16 via automatic adaptation"""
     config = create_default_config()
     config.device = "cuda"
     stats = create_default_stats()
 
-    preprocessor, _ = make_sac_pre_post_processors(
+    preprocessor, _ = make_gaussian_actor_pre_post_processors(
         config,
         stats,
     )

tests/rl/test_actor_learner.py

@@ -28,7 +28,7 @@ from torch.multiprocessing import Event, Queue
 
 from lerobot.configs.train import TrainRLServerPipelineConfig
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.policies.sac.configuration_sac import SACConfig
+from lerobot.policies.gaussian_actor.configuration_gaussian_actor import GaussianActorConfig
 from lerobot.utils.constants import ACTION, OBS_STATE, OBS_STR
 from lerobot.utils.transition import Transition
 from tests.utils import skip_if_package_missing
@@ -81,7 +81,7 @@ def cfg():
 
     port = find_free_port()
 
-    policy_cfg = SACConfig()
+    policy_cfg = GaussianActorConfig()
     policy_cfg.actor_learner_config.learner_host = "127.0.0.1"
     policy_cfg.actor_learner_config.learner_port = port
     policy_cfg.concurrency.actor = "threads"
@@ -312,7 +312,7 @@ def test_learner_algorithm_wiring():
     """Verify that make_algorithm constructs an SACAlgorithm from config,
     make_optimizers_and_scheduler() creates the right optimizers, update() works, and
     get_weights() output is serializable."""
-    from lerobot.policies.sac.modeling_sac import SACPolicy
+    from lerobot.policies.gaussian_actor.modeling_gaussian_actor import GaussianActorPolicy
     from lerobot.rl.algorithms.factory import make_algorithm
     from lerobot.rl.algorithms.sac import SACAlgorithm
     from lerobot.transport.utils import state_to_bytes
@@ -320,7 +320,7 @@ def test_learner_algorithm_wiring():
     state_dim = 10
     action_dim = 6
 
-    sac_cfg = SACConfig(
+    sac_cfg = GaussianActorConfig(
         input_features={OBS_STATE: PolicyFeature(type=FeatureType.STATE, shape=(state_dim,))},
         output_features={ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(action_dim,))},
         dataset_stats={
@@ -331,7 +331,7 @@ def test_learner_algorithm_wiring():
     )
     sac_cfg.validate_features()
 
-    policy = SACPolicy(config=sac_cfg)
+    policy = GaussianActorPolicy(config=sac_cfg)
     policy.train()
 
     algorithm = make_algorithm(policy=policy, policy_cfg=sac_cfg, algorithm_name="sac")
@@ -399,13 +399,13 @@ def test_learner_algorithm_wiring():
 def test_initial_and_periodic_weight_push_consistency():
     """Both initial and periodic weight pushes should use algorithm.get_weights()
     and produce identical structures."""
-    from lerobot.policies.sac.modeling_sac import SACPolicy
+    from lerobot.policies.gaussian_actor.modeling_gaussian_actor import GaussianActorPolicy
     from lerobot.rl.algorithms.factory import make_algorithm
     from lerobot.transport.utils import bytes_to_state_dict, state_to_bytes
 
     state_dim = 10
     action_dim = 6
-    sac_cfg = SACConfig(
+    sac_cfg = GaussianActorConfig(
         input_features={OBS_STATE: PolicyFeature(type=FeatureType.STATE, shape=(state_dim,))},
         output_features={ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(action_dim,))},
         dataset_stats={
@@ -416,7 +416,7 @@ def test_initial_and_periodic_weight_push_consistency():
     )
     sac_cfg.validate_features()
 
-    policy = SACPolicy(config=sac_cfg)
+    policy = GaussianActorPolicy(config=sac_cfg)
     policy.train()
     algorithm = make_algorithm(policy=policy, policy_cfg=sac_cfg, algorithm_name="sac")
     algorithm.make_optimizers_and_scheduler()
@@ -437,13 +437,13 @@ def test_initial_and_periodic_weight_push_consistency():
 
 def test_actor_side_algorithm_select_action_and_load_weights():
     """Simulate actor: create algorithm without optimizers, select_action, load_weights."""
-    from lerobot.policies.sac.modeling_sac import SACPolicy
+    from lerobot.policies.gaussian_actor.modeling_gaussian_actor import GaussianActorPolicy
     from lerobot.rl.algorithms.factory import make_algorithm
     from lerobot.rl.algorithms.sac import SACAlgorithm
 
     state_dim = 10
     action_dim = 6
-    sac_cfg = SACConfig(
+    sac_cfg = GaussianActorConfig(
         input_features={OBS_STATE: PolicyFeature(type=FeatureType.STATE, shape=(state_dim,))},
         output_features={ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(action_dim,))},
         dataset_stats={
@@ -455,7 +455,7 @@ def test_actor_side_algorithm_select_action_and_load_weights():
     sac_cfg.validate_features()
 
     # Actor side: no optimizers
-    policy = SACPolicy(config=sac_cfg)
+    policy = GaussianActorPolicy(config=sac_cfg)
     policy.eval()
     algorithm = make_algorithm(policy=policy, policy_cfg=sac_cfg, algorithm_name="sac")
     assert isinstance(algorithm, SACAlgorithm)

tests/rl/test_sac_algorithm.py

@@ -22,8 +22,8 @@ pytest.importorskip("grpc")
 import torch
 
 from lerobot.configs.types import FeatureType, PolicyFeature
-from lerobot.policies.sac.configuration_sac import SACConfig
+from lerobot.policies.gaussian_actor.configuration_gaussian_actor import GaussianActorConfig
-from lerobot.policies.sac.modeling_sac import SACPolicy
+from lerobot.policies.gaussian_actor.modeling_gaussian_actor import GaussianActorPolicy
 from lerobot.rl.algorithms.configs import RLAlgorithmConfig, TrainingStats
 from lerobot.rl.algorithms.factory import make_algorithm
 from lerobot.rl.algorithms.sac import SACAlgorithm, SACAlgorithmConfig
@@ -47,8 +47,8 @@ def _make_sac_config(
     utd_ratio: int = 1,
     policy_update_freq: int = 1,
     with_images: bool = False,
-) -> SACConfig:
+) -> GaussianActorConfig:
-    config = SACConfig(
+    config = GaussianActorConfig(
         input_features={OBS_STATE: PolicyFeature(type=FeatureType.STATE, shape=(state_dim,))},
         output_features={ACTION: PolicyFeature(type=FeatureType.ACTION, shape=(action_dim,))},
         dataset_stats={
@@ -79,7 +79,7 @@ def _make_algorithm(
     policy_update_freq: int = 1,
     num_discrete_actions: int | None = None,
     with_images: bool = False,
-) -> tuple[SACAlgorithm, SACPolicy]:
+) -> tuple[SACAlgorithm, GaussianActorPolicy]:
     sac_cfg = _make_sac_config(
         state_dim=state_dim,
         action_dim=action_dim,
@@ -88,7 +88,7 @@ def _make_algorithm(
         num_discrete_actions=num_discrete_actions,
         with_images=with_images,
     )
-    policy = SACPolicy(config=sac_cfg)
+    policy = GaussianActorPolicy(config=sac_cfg)
     policy.train()
     algo_config = SACAlgorithmConfig.from_policy_config(sac_cfg)
     algorithm = SACAlgorithm(policy=policy, config=algo_config)
@@ -349,7 +349,7 @@ def test_optimization_step_can_be_set_for_resume():
 
 def test_make_algorithm_returns_sac_for_sac_policy():
     sac_cfg = _make_sac_config()
-    policy = SACPolicy(config=sac_cfg)
+    policy = GaussianActorPolicy(config=sac_cfg)
     algorithm = make_algorithm(policy=policy, policy_cfg=sac_cfg, algorithm_name="sac")
     assert isinstance(algorithm, SACAlgorithm)
     assert algorithm.optimizers == {}
@@ -358,7 +358,7 @@ def test_make_algorithm_returns_sac_for_sac_policy():
 def test_make_optimizers_creates_expected_keys():
     """make_optimizers_and_scheduler() should populate the algorithm with Adam optimizers."""
     sac_cfg = _make_sac_config()
-    policy = SACPolicy(config=sac_cfg)
+    policy = GaussianActorPolicy(config=sac_cfg)
     algorithm = make_algorithm(policy=policy, policy_cfg=sac_cfg, algorithm_name="sac")
     optimizers = algorithm.make_optimizers_and_scheduler()
     assert "actor" in optimizers
@@ -371,7 +371,7 @@ def test_make_optimizers_creates_expected_keys():
 def test_actor_side_no_optimizers():
     """Actor-side usage: no optimizers needed, make_optimizers_and_scheduler is not called."""
     sac_cfg = _make_sac_config()
-    policy = SACPolicy(config=sac_cfg)
+    policy = GaussianActorPolicy(config=sac_cfg)
     algorithm = make_algorithm(policy=policy, policy_cfg=sac_cfg, algorithm_name="sac")
     assert isinstance(algorithm, SACAlgorithm)
     assert algorithm.optimizers == {}
@@ -379,7 +379,7 @@ def test_actor_side_no_optimizers():
 
 def test_make_algorithm_copies_config_fields():
     sac_cfg = _make_sac_config(utd_ratio=5, policy_update_freq=3)
-    policy = SACPolicy(config=sac_cfg)
+    policy = GaussianActorPolicy(config=sac_cfg)
     algorithm = make_algorithm(policy=policy, policy_cfg=sac_cfg, algorithm_name="sac")
     assert algorithm.config.utd_ratio == 5
     assert algorithm.config.policy_update_freq == 3
@@ -404,7 +404,7 @@ def test_load_weights_round_trip():
     algo_src.update(_batch_iterator())
 
     sac_cfg = _make_sac_config(state_dim=10, action_dim=6)
-    policy_dst = SACPolicy(config=sac_cfg)
+    policy_dst = GaussianActorPolicy(config=sac_cfg)
     algo_dst = SACAlgorithm(policy=policy_dst, config=algo_src.config)
 
     weights = algo_src.get_weights()
@@ -423,7 +423,7 @@ def test_load_weights_round_trip_with_discrete_critic():
     algo_src.update(_batch_iterator(action_dim=7))
 
     sac_cfg = _make_sac_config(num_discrete_actions=3, action_dim=6)
-    policy_dst = SACPolicy(config=sac_cfg)
+    policy_dst = GaussianActorPolicy(config=sac_cfg)
     algo_dst = SACAlgorithm(policy=policy_dst, config=algo_src.config)
 
     weights = algo_src.get_weights()
@@ -470,7 +470,7 @@ def test_build_algorithm_via_config():
     """SACAlgorithmConfig.build_algorithm should produce a working SACAlgorithm."""
     sac_cfg = _make_sac_config(utd_ratio=2)
     algo_config = SACAlgorithmConfig.from_policy_config(sac_cfg)
-    policy = SACPolicy(config=sac_cfg)
+    policy = GaussianActorPolicy(config=sac_cfg)
 
     algorithm = algo_config.build_algorithm(policy)
     assert isinstance(algorithm, SACAlgorithm)
@@ -480,6 +480,6 @@ def test_build_algorithm_via_config():
 def test_make_algorithm_uses_build_algorithm():
     """make_algorithm should delegate to config.build_algorithm (no hardcoded if/else)."""
     sac_cfg = _make_sac_config()
-    policy = SACPolicy(config=sac_cfg)
+    policy = GaussianActorPolicy(config=sac_cfg)
     algorithm = make_algorithm(policy=policy, policy_cfg=sac_cfg, algorithm_name="sac")
     assert isinstance(algorithm, SACAlgorithm)