From 56e7979cfd63230885615741393f3c0f36cd17bc Mon Sep 17 00:00:00 2001
From: nemo <git@ningu.net>
Date: Fri, 27 Jun 2025 19:27:08 +0200
Subject: [PATCH] Add default config for ACT

---
 lerobot/scripts/train.py | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py
index 1ec290fe3..8f172d0ea 100644
--- a/lerobot/scripts/train.py
+++ b/lerobot/scripts/train.py
@@ -117,6 +117,16 @@ def get_default_peft_configuration(policy_type):
                 "unnormalize_outputs",
             ],
         }
+    elif policy_type == "act":
+        return {
+            "target_modules": r"(.*_proj|.*\.action_head)",
+            "modules_to_save": [
+                # These are inf on load otherwise
+                "normalize_inputs",
+                "normalize_targets",
+                "unnormalize_outputs",
+            ],
+        }
 
     return {'modules_to_save': None}