From 456d9fe3ff645d5ff056d172b27cb06a640cdb8d Mon Sep 17 00:00:00 2001
From: Pepijn <pepijn@huggingface.co>
Date: Tue, 25 Nov 2025 22:13:23 +0100
Subject: [PATCH] pass dataset metadata to policy

---
 src/lerobot/policies/factory.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/lerobot/policies/factory.py b/src/lerobot/policies/factory.py
index 12dfb1aa0..32c028119 100644
--- a/src/lerobot/policies/factory.py
+++ b/src/lerobot/policies/factory.py
@@ -436,6 +436,9 @@ def make_policy(
     # Pass dataset_stats to the policy if available (needed for some policies like SARM)
     if ds_meta is not None and hasattr(ds_meta, 'stats'):
         kwargs["dataset_stats"] = ds_meta.stats
+    
+    if ds_meta is not None:
+        kwargs["dataset_meta"] = ds_meta
 
     if cfg.pretrained_path:
         # Load a pretrained policy and override the config if needed (for example, if there are inference-time