From 9649f140ca95b1e3c6aba7bfa6db1223ec904855 Mon Sep 17 00:00:00 2001
From: nemo <git@ningu.net>
Date: Tue, 16 Dec 2025 17:57:03 +0100
Subject: [PATCH] Make it possible to use PeftModels in eval

---
 src/lerobot/scripts/lerobot_eval.py | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/src/lerobot/scripts/lerobot_eval.py b/src/lerobot/scripts/lerobot_eval.py
index 4cf9c4095..f9f4e16f2 100644
--- a/src/lerobot/scripts/lerobot_eval.py
+++ b/src/lerobot/scripts/lerobot_eval.py
@@ -277,9 +277,17 @@ def eval_policy(
         raise ValueError("If max_episodes_rendered > 0, videos_dir must be provided.")
 
     if not isinstance(policy, PreTrainedPolicy):
-        raise ValueError(
+        exc = ValueError(
             f"Policy of type 'PreTrainedPolicy' is expected, but type '{type(policy)}' was provided."
         )
+        try:
+            from peft import PeftModel
+
+            if not isinstance(policy, PeftModel):
+                raise exc
+        except ImportError:
+            raise exc
+
 
     start = time.time()
     policy.eval()