# Policies

Every policy inherits [`PreTrainedPolicy`], which combines a `torch.nn.Module` with the Hub mixin, so any
policy can be pushed to and loaded from the Hugging Face Hub with the same two calls.

Each policy has its own guide with training recipes and results — [ACT](../act), [SmolVLA](../smolvla),
[π₀](../pi0), [π₀.₅](../pi05) and the rest are listed under Policies. To add one, see
[Adding a Policy](../bring_your_own_policies).

## PreTrainedPolicy

The abstract base class every policy subclasses. `forward` computes the training loss, `select_action`
returns one action at a time for control loops, and `predict_action_chunk` returns a full action chunk.

[[autodoc]] lerobot.policies.pretrained.PreTrainedPolicy
    - forward
    - predict_action_chunk
    - select_action
    - get_optim_params
    - reset
    - from_pretrained
    - supports_rtc
    - push_model_to_hub
    - wrap_with_peft

## PreTrainedConfig

[[autodoc]] lerobot.configs.PreTrainedConfig

## make_policy

[[autodoc]] lerobot.policies.factory.make_policy

## get_policy_class

[[autodoc]] lerobot.policies.factory.get_policy_class

## make_policy_config

[[autodoc]] lerobot.policies.factory.make_policy_config

## make_pre_post_processors

[[autodoc]] lerobot.policies.factory.make_pre_post_processors

## ACT

[[autodoc]] lerobot.policies.act.modeling_act.ACTPolicy
    - all

[[autodoc]] lerobot.policies.act.configuration_act.ACTConfig

## SmolVLA

[[autodoc]] lerobot.policies.smolvla.modeling_smolvla.SmolVLAPolicy
    - all

[[autodoc]] lerobot.policies.smolvla.configuration_smolvla.SmolVLAConfig

## π₀ (PI0)

[[autodoc]] lerobot.policies.pi0.modeling_pi0.PI0Policy
    - all

[[autodoc]] lerobot.policies.pi0.configuration_pi0.PI0Config

## π₀-FAST (PI0Fast)

[[autodoc]] lerobot.policies.pi0_fast.modeling_pi0_fast.PI0FastPolicy
    - all

[[autodoc]] lerobot.policies.pi0_fast.configuration_pi0_fast.PI0FastConfig

## π₀.₅ (PI05)

[[autodoc]] lerobot.policies.pi05.modeling_pi05.PI05Policy
    - all

[[autodoc]] lerobot.policies.pi05.configuration_pi05.PI05Config

## MolmoAct2

[[autodoc]] lerobot.policies.molmoact2.modeling_molmoact2.MolmoAct2Policy
    - all

[[autodoc]] lerobot.policies.molmoact2.configuration_molmoact2.MolmoAct2Config

## VLA-JEPA

[[autodoc]] lerobot.policies.vla_jepa.modeling_vla_jepa.VLAJEPAPolicy
    - all

[[autodoc]] lerobot.policies.vla_jepa.configuration_vla_jepa.VLAJEPAConfig

## EO-1

[[autodoc]] lerobot.policies.eo1.modeling_eo1.EO1Policy
    - all

[[autodoc]] lerobot.policies.eo1.configuration_eo1.EO1Config

## LingBot-VA

[[autodoc]] lerobot.policies.lingbot_va.modeling_lingbot_va.LingBotVAPolicy
    - all

[[autodoc]] lerobot.policies.lingbot_va.configuration_lingbot_va.LingBotVAConfig

## FastWAM

[[autodoc]] lerobot.policies.fastwam.modeling_fastwam.FastWAMPolicy
    - all

[[autodoc]] lerobot.policies.fastwam.configuration_fastwam.FastWAMConfig

## EVO1

[[autodoc]] lerobot.policies.evo1.modeling_evo1.Evo1Policy
    - all

[[autodoc]] lerobot.policies.evo1.configuration_evo1.Evo1Config

## NVIDIA GR00T

[[autodoc]] lerobot.policies.groot.modeling_groot.GrootPolicy
    - all

[[autodoc]] lerobot.policies.groot.configuration_groot.GrootConfig

## X-VLA

[[autodoc]] lerobot.policies.xvla.modeling_xvla.XVLAPolicy
    - all

[[autodoc]] lerobot.policies.xvla.configuration_xvla.XVLAConfig

## Multitask DiT Policy

[[autodoc]] lerobot.policies.multi_task_dit.modeling_multi_task_dit.MultiTaskDiTPolicy
    - all

[[autodoc]] lerobot.policies.multi_task_dit.configuration_multi_task_dit.MultiTaskDiTConfig

## WALL-OSS

[[autodoc]] lerobot.policies.wall_x.modeling_wall_x.WallXPolicy
    - all

[[autodoc]] lerobot.policies.wall_x.configuration_wall_x.WallXConfig

## Diffusion Policy

[[autodoc]] lerobot.policies.diffusion.modeling_diffusion.DiffusionPolicy
    - all

[[autodoc]] lerobot.policies.diffusion.configuration_diffusion.DiffusionConfig

## Gaussian Actor

[[autodoc]] lerobot.policies.gaussian_actor.modeling_gaussian_actor.GaussianActorPolicy
    - all

[[autodoc]] lerobot.policies.gaussian_actor.configuration_gaussian_actor.GaussianActorConfig

## TD-MPC

[[autodoc]] lerobot.policies.tdmpc.modeling_tdmpc.TDMPCPolicy
    - all

[[autodoc]] lerobot.policies.tdmpc.configuration_tdmpc.TDMPCConfig

## VQ-BeT

[[autodoc]] lerobot.policies.vqbet.modeling_vqbet.VQBeTPolicy
    - all

[[autodoc]] lerobot.policies.vqbet.configuration_vqbet.VQBeTConfig