# 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

[[autodoc]] lerobot.policies.pretrained.PreTrainedPolicy

## PreTrainedConfig

[[autodoc]] lerobot.configs.PreTrainedConfig

## make_policy

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