diff --git a/lerobot/common/policies/pi0fast/configuration_pi0fast.py b/lerobot/common/policies/pi0fast/configuration_pi0fast.py
index ecaaa2cb..8f8943ab 100644
--- a/lerobot/common/policies/pi0fast/configuration_pi0fast.py
+++ b/lerobot/common/policies/pi0fast/configuration_pi0fast.py
@@ -79,6 +79,8 @@ class PI0FASTConfig(PreTrainedConfig):
     precision: str = "bfloat16"
     grad_clip_norm: float = 1
 
+    # Allows padding/truncation of generated action tokens during detokenization to ensure decoding. 
+    # In the original version, tensors of 0s were generated if shapes didn't match for stable decoding.
     relaxed_decoding: bool = True
 
     def __post_init__(self):