diff --git a/src/lerobot/scripts/lerobot_train.py b/src/lerobot/scripts/lerobot_train.py
index 1d8f21afc..7023cb1d0 100644
--- a/src/lerobot/scripts/lerobot_train.py
+++ b/src/lerobot/scripts/lerobot_train.py
@@ -138,22 +138,26 @@ def get_default_peft_configuration(policy_type):
     """
     if policy_type == "smolvla":
         return {
-            "target_modules": r"(model\.vlm_with_expert\.lm_expert\..*\.(q_proj|v_proj)|model\.action_.*|model\.state_proj.*)",
+            "target_modules": r"(model\.vlm_with_expert\.lm_expert\..*\.(q_proj|v_proj))",
             "modules_to_save": [
-                # These are inf on load otherwise
-                "normalize_inputs",
-                "normalize_targets",
-                "unnormalize_outputs",
+                # these are initialized randomly and need full-finetuning
+                "state_proj",
+                "action_in_proj",
+                "action_out_proj",
+                "action_time_mlp_in",
+                "action_time_mlp_out",
             ],
         }
-    elif policy_type == "act":
+    elif policy_type in ("pi0", "pi05"):
         return {
-            "target_modules": r"(.*_proj|.*\.action_head)",
+            "target_modules": r".*\.gemma_expert\..*\.self_attn.(q_proj|v_proj)",
             "modules_to_save": [
-                # These are inf on load otherwise
-                "normalize_inputs",
-                "normalize_targets",
-                "unnormalize_outputs",
+                # these are initialized randomly and need full-finetuning
+                "state_proj",
+                "action_in_proj",
+                "action_out_proj",
+                "action_time_mlp_in",
+                "action_time_mlp_out",
             ],
         }
 
@@ -170,7 +174,7 @@ def wrap_policy_in_peft_model(cfg, policy):
 
     peft_config_policy = get_default_peft_configuration(cfg.policy.type)
     peft_config_cli = dataclasses.asdict(cfg.peft) if cfg.peft else {}
-    peft_config_cli['modules_to_save'] = peft_config_cli['full_training_modules']  # compatibility with PEFT
+    peft_config_cli["modules_to_save"] = peft_config_cli["full_training_modules"]  # compatibility with PEFT
     peft_method_type = PeftType[peft_config_cli["method_type"].upper()]
     peft_config_cls = PEFT_TYPE_TO_CONFIG_MAPPING[peft_method_type]