From a4891095e4c118cb27909453443c0e16632764f3 Mon Sep 17 00:00:00 2001
From: Alexander Soare <alexander.soare159@gmail.com>
Date: Wed, 1 May 2024 16:17:18 +0100
Subject: [PATCH] Use PytorchModelHubMixin to save models as safetensors (#125)

Co-authored-by: Remi <re.cadene@gmail.com>
---
 Makefile                                      |  18 +-
 README.md                                     |  27 +-
 examples/2_evaluate_pretrained_policy.py      |  21 +-
 examples/3_train_policy.py                    |   7 +-
 lerobot/common/logger.py                      |  15 +-
 .../common/policies/act/configuration_act.py  |   4 +-
 lerobot/common/policies/act/modeling_act.py   | 164 +++++-----
 .../policies/diffusion/modeling_diffusion.py  | 177 +++++------
 lerobot/common/policies/factory.py            |  66 ++--
 lerobot/common/policies/normalize.py          |  60 ++--
 lerobot/common/policies/policy_protocol.py    |   5 +-
 lerobot/configs/policy/act.yaml               |   4 +-
 lerobot/configs/policy/diffusion.yaml         |   2 -
 lerobot/scripts/eval.py                       | 123 +++++---
 lerobot/scripts/train.py                      |  11 +-
 poetry.lock                                   | 296 ++++++++----------
 tests/test_examples.py                        |  14 +-
 tests/test_policies.py                        |  69 ++--
 18 files changed, 556 insertions(+), 527 deletions(-)

diff --git a/Makefile b/Makefile
index 7c82e29a..ea6c3091 100644
--- a/Makefile
+++ b/Makefile
@@ -24,6 +24,7 @@ test-end-to-end:
 	${MAKE} test-diffusion-ete-eval
 	# ${MAKE} test-tdmpc-ete-train
 	# ${MAKE} test-tdmpc-ete-eval
+	${MAKE} test-default-ete-eval
 
 test-act-ete-train:
 	python lerobot/scripts/train.py \
@@ -43,11 +44,10 @@ test-act-ete-train:
 
 test-act-ete-eval:
 	python lerobot/scripts/eval.py \
-		--config tests/outputs/act/.hydra/config.yaml \
+		-p tests/outputs/act/checkpoints/000002 \
 		eval.n_episodes=1 \
 		env.episode_length=8 \
 		device=cpu \
-		policy.pretrained_model_path=tests/outputs/act/models/2.pt
 
 test-diffusion-ete-train:
 	python lerobot/scripts/train.py \
@@ -65,11 +65,10 @@ test-diffusion-ete-train:
 
 test-diffusion-ete-eval:
 	python lerobot/scripts/eval.py \
-		--config tests/outputs/diffusion/.hydra/config.yaml \
+		-p tests/outputs/diffusion/checkpoints/000002 \
 		eval.n_episodes=1 \
 		env.episode_length=8 \
 		device=cpu \
-		policy.pretrained_model_path=tests/outputs/diffusion/models/2.pt
 
 test-tdmpc-ete-train:
 	python lerobot/scripts/train.py \
@@ -88,8 +87,15 @@ test-tdmpc-ete-train:
 
 test-tdmpc-ete-eval:
 	python lerobot/scripts/eval.py \
-		--config tests/outputs/tdmpc/.hydra/config.yaml \
+		-p tests/outputs/tdmpc/checkpoints/000002 \
+		eval.n_episodes=1 \
+		env.episode_length=8 \
+		device=cpu \
+
+
+test-default-ete-eval:
+	python lerobot/scripts/eval.py \
+		--config lerobot/configs/default.yaml \
 		eval.n_episodes=1 \
 		env.episode_length=8 \
 		device=cpu \
-		policy.pretrained_model_path=tests/outputs/tdmpc/models/2.pt
diff --git a/README.md b/README.md
index 35a2f422..96378c44 100644
--- a/README.md
+++ b/README.md
@@ -135,16 +135,16 @@ Check out [examples](./examples) to see how you can load a pretrained policy fro
 Or you can achieve the same result by executing our script from the command line:
 ```bash
 python lerobot/scripts/eval.py \
---hub-id lerobot/diffusion_policy_pusht_image \
+-p lerobot/diffusion_policy_pusht_image \
 eval_episodes=10 \
 hydra.run.dir=outputs/eval/example_hub
 ```
 
 After training your own policy, you can also re-evaluate the checkpoints with:
+
 ```bash
 python lerobot/scripts/eval.py \
---config PATH/TO/FOLDER/config.yaml \
-policy.pretrained_model_path=PATH/TO/FOLDER/weights.pth \
+-p PATH/TO/TRAIN/OUTPUT/FOLDER \
 eval_episodes=10 \
 hydra.run.dir=outputs/eval/example_dir
 ```
@@ -246,29 +246,22 @@ Once you have trained a policy you may upload it to the HuggingFace hub.
 
 Firstly, make sure you have a model repository set up on the hub. The hub ID looks like HF_USER/REPO_NAME.
 
-Secondly, assuming you have trained a policy, you need:
+Secondly, assuming you have trained a policy, you need the following (which should all be in any of the subdirectories of `checkpoints` in your training output folder, if you've used the LeRobot training script):
 
-- `config.yaml` which you can get from the `.hydra` directory of your training output folder.
-- `model.pt` which should be one of the saved models in the `models` directory of your training output folder (they won't be named `model.pt` but you will need to choose one).
+- `config.json`: A serialized version of the policy configuration (following the policy's dataclass config).
+- `model.safetensors`: The `torch.nn.Module` parameters saved in [Hugging Face Safetensors](https://huggingface.co/docs/safetensors/index) format.
+- `config.yaml`: This is the consolidated Hydra training configuration containing the policy, environment, and dataset configs. The policy configuration should match `config.json` exactly. The environment config is useful for anyone who wants to evaluate your policy. The dataset config just serves as a paper trail for reproducibility.
 
-To upload these to the hub, prepare a folder with the following structure (you can use symlinks rather than copying):
-
-```
-to_upload
-    ├── config.yaml
-    └── model.pt
-```
-
-With the folder prepared, run the following with a desired revision ID.
+To upload these to the hub, run the following with a desired revision ID.
 
 ```bash
-huggingface-cli upload $HUB_ID to_upload --revision $REVISION_ID
+huggingface-cli upload $HUB_ID PATH/TO/OUTPUT/DIR --revision $REVISION_ID
 ```
 
 If you want this to be the default revision also run the following (don't worry, it won't upload the files again; it will just adjust the file pointers):
 
 ```bash
-huggingface-cli upload $HUB_ID to_upload
+huggingface-cli upload $HUB_ID PATH/TO/OUTPUT/DIR
 ```
 
 See `eval.py` for an example of how a user may use your policy.
diff --git a/examples/2_evaluate_pretrained_policy.py b/examples/2_evaluate_pretrained_policy.py
index 9aae7e1e..8a72201f 100644
--- a/examples/2_evaluate_pretrained_policy.py
+++ b/examples/2_evaluate_pretrained_policy.py
@@ -7,32 +7,21 @@ from pathlib import Path
 
 from huggingface_hub import snapshot_download
 
-from lerobot.common.utils.utils import init_hydra_config
 from lerobot.scripts.eval import eval
 
 # Get a pretrained policy from the hub.
-# TODO(alexander-soare): This no longer works until we upload a new model that uses the current configs.
-hub_id = "lerobot/diffusion_policy_pusht_image"
-folder = Path(snapshot_download(hub_id))
+pretrained_policy_name = "lerobot/diffusion_policy_pusht_image"
+pretrained_policy_path = Path(snapshot_download(pretrained_policy_name))
 # OR uncomment the following to evaluate a policy from the local outputs/train folder.
-# folder = Path("outputs/train/example_pusht_diffusion")
-
-config_path = folder / "config.yaml"
-weights_path = folder / "model.pt"
+# pretrained_policy_path = Path("outputs/train/example_pusht_diffusion")
 
 # Override some config parameters to do with evaluation.
 overrides = [
-    f"policy.pretrained_model_path={weights_path}",
     "eval.n_episodes=10",
     "eval.batch_size=10",
     "device=cuda",
 ]
 
-# Create a Hydra config.
-cfg = init_hydra_config(config_path, overrides)
-
 # Evaluate the policy and save the outputs including metrics and videos.
-eval(
-    cfg,
-    out_dir=f"outputs/eval/example_{cfg.env.name}_{cfg.policy.name}",
-)
+# TODO(rcadene, alexander-soare): dont call eval, but add the minimal code snippet to rollout
+eval(pretrained_policy_path=pretrained_policy_path)
diff --git a/examples/3_train_policy.py b/examples/3_train_policy.py
index 03cd91d1..69e3d34c 100644
--- a/examples/3_train_policy.py
+++ b/examples/3_train_policy.py
@@ -34,7 +34,7 @@ dataset = make_dataset(hydra_cfg)
 # If you're doing something different, you will likely need to change at least some of the defaults.
 cfg = DiffusionConfig()
 # TODO(alexander-soare): Remove LR scheduler from the policy.
-policy = DiffusionPolicy(cfg, lr_scheduler_num_training_steps=training_steps, dataset_stats=dataset.stats)
+policy = DiffusionPolicy(cfg, dataset_stats=dataset.stats)
 policy.train()
 policy.to(device)
 
@@ -69,6 +69,7 @@ while not done:
             done = True
             break
 
-# Save the policy and configuration for later use.
-policy.save(output_directory / "model.pt")
+# Save the policy.
+policy.save_pretrained(output_directory)
+# Save the Hydra configuration so we have the environment configuration for eval.
 OmegaConf.save(hydra_cfg, output_directory / "config.yaml")
diff --git a/lerobot/common/logger.py b/lerobot/common/logger.py
index 8420685c..4c27fe7f 100644
--- a/lerobot/common/logger.py
+++ b/lerobot/common/logger.py
@@ -2,9 +2,12 @@ import logging
 import os
 from pathlib import Path
 
+from huggingface_hub.constants import SAFETENSORS_SINGLE_FILE
 from omegaconf import OmegaConf
 from termcolor import colored
 
+from lerobot.common.policies.policy_protocol import Policy
+
 
 def log_output_dir(out_dir):
     logging.info(colored("Output dir:", "yellow", attrs=["bold"]) + f" {out_dir}")
@@ -27,7 +30,7 @@ class Logger:
         self._log_dir = Path(log_dir)
         self._log_dir.mkdir(parents=True, exist_ok=True)
         self._job_name = job_name
-        self._model_dir = self._log_dir / "models"
+        self._model_dir = self._log_dir / "checkpoints"
         self._buffer_dir = self._log_dir / "buffers"
         self._save_model = cfg.training.save_model
         self._disable_wandb_artifact = cfg.wandb.disable_artifact
@@ -67,18 +70,20 @@ class Logger:
             logging.info(f"Track this run --> {colored(wandb.run.get_url(), 'yellow', attrs=['bold'])}")
             self._wandb = wandb
 
-    def save_model(self, policy, identifier):
+    def save_model(self, policy: Policy, identifier):
         if self._save_model:
             self._model_dir.mkdir(parents=True, exist_ok=True)
-            fp = self._model_dir / f"{str(identifier)}.pt"
-            policy.save(fp)
+            save_dir = self._model_dir / str(identifier)
+            policy.save_pretrained(save_dir)
+            # Also save the full Hydra config for the env configuration.
+            OmegaConf.save(self._cfg, save_dir / "config.yaml")
             if self._wandb and not self._disable_wandb_artifact:
                 # note wandb artifact does not accept ":" in its name
                 artifact = self._wandb.Artifact(
                     self._group.replace(":", "_") + "-" + str(self._seed) + "-" + str(identifier),
                     type="model",
                 )
-                artifact.add_file(fp)
+                artifact.add_file(save_dir / SAFETENSORS_SINGLE_FILE)
                 self._wandb.log_artifact(artifact)
 
     def save_buffer(self, buffer, identifier):
diff --git a/lerobot/common/policies/act/configuration_act.py b/lerobot/common/policies/act/configuration_act.py
index 4b0b0d19..b3700a26 100644
--- a/lerobot/common/policies/act/configuration_act.py
+++ b/lerobot/common/policies/act/configuration_act.py
@@ -38,7 +38,7 @@ class ACTConfig:
         replace_final_stride_with_dilation: Whether to replace the ResNet's final 2x2 stride with a dilated
             convolution.
         pre_norm: Whether to use "pre-norm" in the transformer blocks.
-        d_model: The transformer blocks' main hidden dimension.
+        dim_model: The transformer blocks' main hidden dimension.
         n_heads: The number of heads to use in the transformer blocks' multi-head attention.
         dim_feedforward: The dimension to expand the transformer's hidden dimension to in the feed-forward
             layers.
@@ -94,7 +94,7 @@ class ACTConfig:
     replace_final_stride_with_dilation: int = False
     # Transformer layers.
     pre_norm: bool = False
-    d_model: int = 512
+    dim_model: int = 512
     n_heads: int = 8
     dim_feedforward: int = 3200
     feedforward_activation: str = "relu"
diff --git a/lerobot/common/policies/act/modeling_act.py b/lerobot/common/policies/act/modeling_act.py
index f4564284..448bd2cb 100644
--- a/lerobot/common/policies/act/modeling_act.py
+++ b/lerobot/common/policies/act/modeling_act.py
@@ -14,6 +14,7 @@ import numpy as np
 import torch
 import torch.nn.functional as F  # noqa: N812
 import torchvision
+from huggingface_hub import PyTorchModelHubMixin
 from torch import Tensor, nn
 from torchvision.models._utils import IntermediateLayerGetter
 from torchvision.ops.misc import FrozenBatchNorm2d
@@ -22,7 +23,7 @@ from lerobot.common.policies.act.configuration_act import ACTConfig
 from lerobot.common.policies.normalize import Normalize, Unnormalize
 
 
-class ACTPolicy(nn.Module):
+class ACTPolicy(nn.Module, PyTorchModelHubMixin):
     """
     Action Chunking Transformer Policy as per Learning Fine-Grained Bimanual Manipulation with Low-Cost
     Hardware (paper: https://arxiv.org/abs/2304.13705, code: https://github.com/tonyzhaozh/act)
@@ -30,27 +31,31 @@ class ACTPolicy(nn.Module):
 
     name = "act"
 
-    def __init__(self, cfg: ACTConfig | None = None, dataset_stats=None):
+    def __init__(self, config: ACTConfig | None = None, dataset_stats=None):
         """
         Args:
-            cfg: Policy configuration class instance or None, in which case the default instantiation of the
-                 configuration class is used.
+            config: Policy configuration class instance or None, in which case the default instantiation of
+                    the configuration class is used.
         """
         super().__init__()
-        if cfg is None:
-            cfg = ACTConfig()
-        self.cfg = cfg
-        self.normalize_inputs = Normalize(cfg.input_shapes, cfg.input_normalization_modes, dataset_stats)
-        self.normalize_targets = Normalize(cfg.output_shapes, cfg.output_normalization_modes, dataset_stats)
-        self.unnormalize_outputs = Unnormalize(
-            cfg.output_shapes, cfg.output_normalization_modes, dataset_stats
+        if config is None:
+            config = ACTConfig()
+        self.config = config
+        self.normalize_inputs = Normalize(
+            config.input_shapes, config.input_normalization_modes, dataset_stats
         )
-        self.model = ACT(cfg)
+        self.normalize_targets = Normalize(
+            config.output_shapes, config.output_normalization_modes, dataset_stats
+        )
+        self.unnormalize_outputs = Unnormalize(
+            config.output_shapes, config.output_normalization_modes, dataset_stats
+        )
+        self.model = ACT(config)
 
     def reset(self):
         """This should be called whenever the environment is reset."""
-        if self.cfg.n_action_steps is not None:
-            self._action_queue = deque([], maxlen=self.cfg.n_action_steps)
+        if self.config.n_action_steps is not None:
+            self._action_queue = deque([], maxlen=self.config.n_action_steps)
 
     @torch.no_grad
     def select_action(self, batch: dict[str, Tensor], **_) -> Tensor:
@@ -68,7 +73,7 @@ class ACTPolicy(nn.Module):
         if len(self._action_queue) == 0:
             # `self.model.forward` returns a (batch_size, n_action_steps, action_dim) tensor, but the queue
             # effectively has shape (n_action_steps, batch_size, *), hence the transpose.
-            actions = self.model(batch)[0][: self.cfg.n_action_steps]
+            actions = self.model(batch)[0][: self.config.n_action_steps]
 
             # TODO(rcadene): make _forward return output dictionary?
             actions = self.unnormalize_outputs({"action": actions})["action"]
@@ -88,7 +93,7 @@ class ACTPolicy(nn.Module):
         ).mean()
 
         loss_dict = {"l1_loss": l1_loss}
-        if self.cfg.use_vae:
+        if self.config.use_vae:
             # Calculate Dₖₗ(latent_pdf || standard_normal). Note: After computing the KL-divergence for
             # each dimension independently, we sum over the latent dimension to get the total
             # KL-divergence per batch element, then take the mean over the batch.
@@ -97,7 +102,7 @@ class ACTPolicy(nn.Module):
                 (-0.5 * (1 + log_sigma_x2_hat - mu_hat.pow(2) - (log_sigma_x2_hat).exp())).sum(-1).mean()
             )
             loss_dict["kld_loss"] = mean_kld
-            loss_dict["loss"] = l1_loss + mean_kld * self.cfg.kl_weight
+            loss_dict["loss"] = l1_loss + mean_kld * self.config.kl_weight
         else:
             loss_dict["loss"] = l1_loss
 
@@ -114,17 +119,10 @@ class ACTPolicy(nn.Module):
         """
         # Stack images in the order dictated by input_shapes.
         batch["observation.images"] = torch.stack(
-            [batch[k] for k in self.cfg.input_shapes if k.startswith("observation.images.")],
+            [batch[k] for k in self.config.input_shapes if k.startswith("observation.images.")],
             dim=-4,
         )
 
-    def save(self, fp):
-        torch.save(self.state_dict(), fp)
-
-    def load(self, fp):
-        d = torch.load(fp)
-        self.load_state_dict(d)
-
 
 class ACT(nn.Module):
     """Action Chunking Transformer: The underlying neural network for ACTPolicy.
@@ -161,36 +159,36 @@ class ACT(nn.Module):
                                 └───────────────────────┘
     """
 
-    def __init__(self, cfg: ACTConfig):
+    def __init__(self, config: ACTConfig):
         super().__init__()
-        self.cfg = cfg
+        self.config = config
         # BERT style VAE encoder with input [cls, *joint_space_configuration, *action_sequence].
         # The cls token forms parameters of the latent's distribution (like this [*means, *log_variances]).
-        if self.cfg.use_vae:
-            self.vae_encoder = ACTEncoder(cfg)
-            self.vae_encoder_cls_embed = nn.Embedding(1, cfg.d_model)
+        if self.config.use_vae:
+            self.vae_encoder = ACTEncoder(config)
+            self.vae_encoder_cls_embed = nn.Embedding(1, config.dim_model)
             # Projection layer for joint-space configuration to hidden dimension.
             self.vae_encoder_robot_state_input_proj = nn.Linear(
-                cfg.input_shapes["observation.state"][0], cfg.d_model
+                config.input_shapes["observation.state"][0], config.dim_model
             )
             # Projection layer for action (joint-space target) to hidden dimension.
             self.vae_encoder_action_input_proj = nn.Linear(
-                cfg.input_shapes["observation.state"][0], cfg.d_model
+                config.input_shapes["observation.state"][0], config.dim_model
             )
-            self.latent_dim = cfg.latent_dim
+            self.latent_dim = config.latent_dim
             # Projection layer from the VAE encoder's output to the latent distribution's parameter space.
-            self.vae_encoder_latent_output_proj = nn.Linear(cfg.d_model, self.latent_dim * 2)
+            self.vae_encoder_latent_output_proj = nn.Linear(config.dim_model, self.latent_dim * 2)
             # Fixed sinusoidal positional embedding the whole input to the VAE encoder. Unsqueeze for batch
             # dimension.
             self.register_buffer(
                 "vae_encoder_pos_enc",
-                create_sinusoidal_position_embedding(1 + 1 + cfg.chunk_size, cfg.d_model).unsqueeze(0),
+                create_sinusoidal_pos_embedding(1 + 1 + config.chunk_size, config.dim_model).unsqueeze(0),
             )
 
         # Backbone for image feature extraction.
-        backbone_model = getattr(torchvision.models, cfg.vision_backbone)(
-            replace_stride_with_dilation=[False, False, cfg.replace_final_stride_with_dilation],
-            weights=cfg.pretrained_backbone_weights,
+        backbone_model = getattr(torchvision.models, config.vision_backbone)(
+            replace_stride_with_dilation=[False, False, config.replace_final_stride_with_dilation],
+            weights=config.pretrained_backbone_weights,
             norm_layer=FrozenBatchNorm2d,
         )
         # Note: The assumption here is that we are using a ResNet model (and hence layer4 is the final feature
@@ -199,26 +197,28 @@ class ACT(nn.Module):
         self.backbone = IntermediateLayerGetter(backbone_model, return_layers={"layer4": "feature_map"})
 
         # Transformer (acts as VAE decoder when training with the variational objective).
-        self.encoder = ACTEncoder(cfg)
-        self.decoder = ACTDecoder(cfg)
+        self.encoder = ACTEncoder(config)
+        self.decoder = ACTDecoder(config)
 
         # Transformer encoder input projections. The tokens will be structured like
         # [latent, robot_state, image_feature_map_pixels].
-        self.encoder_robot_state_input_proj = nn.Linear(cfg.input_shapes["observation.state"][0], cfg.d_model)
-        self.encoder_latent_input_proj = nn.Linear(self.latent_dim, cfg.d_model)
+        self.encoder_robot_state_input_proj = nn.Linear(
+            config.input_shapes["observation.state"][0], config.dim_model
+        )
+        self.encoder_latent_input_proj = nn.Linear(self.latent_dim, config.dim_model)
         self.encoder_img_feat_input_proj = nn.Conv2d(
-            backbone_model.fc.in_features, cfg.d_model, kernel_size=1
+            backbone_model.fc.in_features, config.dim_model, kernel_size=1
         )
         # Transformer encoder positional embeddings.
-        self.encoder_robot_and_latent_pos_embed = nn.Embedding(2, cfg.d_model)
-        self.encoder_cam_feat_pos_embed = ACTSinusoidalPositionEmbedding2d(cfg.d_model // 2)
+        self.encoder_robot_and_latent_pos_embed = nn.Embedding(2, config.dim_model)
+        self.encoder_cam_feat_pos_embed = ACTSinusoidalPositionEmbedding2d(config.dim_model // 2)
 
         # Transformer decoder.
         # Learnable positional embedding for the transformer's decoder (in the style of DETR object queries).
-        self.decoder_pos_embed = nn.Embedding(cfg.chunk_size, cfg.d_model)
+        self.decoder_pos_embed = nn.Embedding(config.chunk_size, config.dim_model)
 
         # Final action regression head on the output of the transformer's decoder.
-        self.action_head = nn.Linear(cfg.d_model, cfg.output_shapes["action"][0])
+        self.action_head = nn.Linear(config.dim_model, config.output_shapes["action"][0])
 
         self._reset_parameters()
 
@@ -244,7 +244,7 @@ class ACT(nn.Module):
             Tuple containing the latent PDF's parameters (mean, log(σ²)) both as (B, L) tensors where L is the
             latent dimension.
         """
-        if self.cfg.use_vae and self.training:
+        if self.config.use_vae and self.training:
             assert (
                 "action" in batch
             ), "actions must be provided when using the variational objective in training mode."
@@ -252,7 +252,7 @@ class ACT(nn.Module):
         batch_size = batch["observation.state"].shape[0]
 
         # Prepare the latent for input to the transformer encoder.
-        if self.cfg.use_vae and "action" in batch:
+        if self.config.use_vae and "action" in batch:
             # Prepare the input to the VAE encoder: [cls, *joint_space_configuration, *action_sequence].
             cls_embed = einops.repeat(
                 self.vae_encoder_cls_embed.weight, "1 d -> b 1 d", b=batch_size
@@ -322,7 +322,7 @@ class ACT(nn.Module):
         # Forward pass through the transformer modules.
         encoder_out = self.encoder(encoder_in, pos_embed=pos_embed)
         decoder_in = torch.zeros(
-            (self.cfg.chunk_size, batch_size, self.cfg.d_model),
+            (self.config.chunk_size, batch_size, self.config.dim_model),
             dtype=pos_embed.dtype,
             device=pos_embed.device,
         )
@@ -344,10 +344,10 @@ class ACT(nn.Module):
 class ACTEncoder(nn.Module):
     """Convenience module for running multiple encoder layers, maybe followed by normalization."""
 
-    def __init__(self, cfg: ACTConfig):
+    def __init__(self, config: ACTConfig):
         super().__init__()
-        self.layers = nn.ModuleList([ACTEncoderLayer(cfg) for _ in range(cfg.n_encoder_layers)])
-        self.norm = nn.LayerNorm(cfg.d_model) if cfg.pre_norm else nn.Identity()
+        self.layers = nn.ModuleList([ACTEncoderLayer(config) for _ in range(config.n_encoder_layers)])
+        self.norm = nn.LayerNorm(config.dim_model) if config.pre_norm else nn.Identity()
 
     def forward(self, x: Tensor, pos_embed: Tensor | None = None) -> Tensor:
         for layer in self.layers:
@@ -357,22 +357,22 @@ class ACTEncoder(nn.Module):
 
 
 class ACTEncoderLayer(nn.Module):
-    def __init__(self, cfg: ACTConfig):
+    def __init__(self, config: ACTConfig):
         super().__init__()
-        self.self_attn = nn.MultiheadAttention(cfg.d_model, cfg.n_heads, dropout=cfg.dropout)
+        self.self_attn = nn.MultiheadAttention(config.dim_model, config.n_heads, dropout=config.dropout)
 
         # Feed forward layers.
-        self.linear1 = nn.Linear(cfg.d_model, cfg.dim_feedforward)
-        self.dropout = nn.Dropout(cfg.dropout)
-        self.linear2 = nn.Linear(cfg.dim_feedforward, cfg.d_model)
+        self.linear1 = nn.Linear(config.dim_model, config.dim_feedforward)
+        self.dropout = nn.Dropout(config.dropout)
+        self.linear2 = nn.Linear(config.dim_feedforward, config.dim_model)
 
-        self.norm1 = nn.LayerNorm(cfg.d_model)
-        self.norm2 = nn.LayerNorm(cfg.d_model)
-        self.dropout1 = nn.Dropout(cfg.dropout)
-        self.dropout2 = nn.Dropout(cfg.dropout)
+        self.norm1 = nn.LayerNorm(config.dim_model)
+        self.norm2 = nn.LayerNorm(config.dim_model)
+        self.dropout1 = nn.Dropout(config.dropout)
+        self.dropout2 = nn.Dropout(config.dropout)
 
-        self.activation = get_activation_fn(cfg.feedforward_activation)
-        self.pre_norm = cfg.pre_norm
+        self.activation = get_activation_fn(config.feedforward_activation)
+        self.pre_norm = config.pre_norm
 
     def forward(self, x, pos_embed: Tensor | None = None) -> Tensor:
         skip = x
@@ -395,11 +395,11 @@ class ACTEncoderLayer(nn.Module):
 
 
 class ACTDecoder(nn.Module):
-    def __init__(self, cfg: ACTConfig):
+    def __init__(self, config: ACTConfig):
         """Convenience module for running multiple decoder layers followed by normalization."""
         super().__init__()
-        self.layers = nn.ModuleList([ACTDecoderLayer(cfg) for _ in range(cfg.n_decoder_layers)])
-        self.norm = nn.LayerNorm(cfg.d_model)
+        self.layers = nn.ModuleList([ACTDecoderLayer(config) for _ in range(config.n_decoder_layers)])
+        self.norm = nn.LayerNorm(config.dim_model)
 
     def forward(
         self,
@@ -418,25 +418,25 @@ class ACTDecoder(nn.Module):
 
 
 class ACTDecoderLayer(nn.Module):
-    def __init__(self, cfg: ACTConfig):
+    def __init__(self, config: ACTConfig):
         super().__init__()
-        self.self_attn = nn.MultiheadAttention(cfg.d_model, cfg.n_heads, dropout=cfg.dropout)
-        self.multihead_attn = nn.MultiheadAttention(cfg.d_model, cfg.n_heads, dropout=cfg.dropout)
+        self.self_attn = nn.MultiheadAttention(config.dim_model, config.n_heads, dropout=config.dropout)
+        self.multihead_attn = nn.MultiheadAttention(config.dim_model, config.n_heads, dropout=config.dropout)
 
         # Feed forward layers.
-        self.linear1 = nn.Linear(cfg.d_model, cfg.dim_feedforward)
-        self.dropout = nn.Dropout(cfg.dropout)
-        self.linear2 = nn.Linear(cfg.dim_feedforward, cfg.d_model)
+        self.linear1 = nn.Linear(config.dim_model, config.dim_feedforward)
+        self.dropout = nn.Dropout(config.dropout)
+        self.linear2 = nn.Linear(config.dim_feedforward, config.dim_model)
 
-        self.norm1 = nn.LayerNorm(cfg.d_model)
-        self.norm2 = nn.LayerNorm(cfg.d_model)
-        self.norm3 = nn.LayerNorm(cfg.d_model)
-        self.dropout1 = nn.Dropout(cfg.dropout)
-        self.dropout2 = nn.Dropout(cfg.dropout)
-        self.dropout3 = nn.Dropout(cfg.dropout)
+        self.norm1 = nn.LayerNorm(config.dim_model)
+        self.norm2 = nn.LayerNorm(config.dim_model)
+        self.norm3 = nn.LayerNorm(config.dim_model)
+        self.dropout1 = nn.Dropout(config.dropout)
+        self.dropout2 = nn.Dropout(config.dropout)
+        self.dropout3 = nn.Dropout(config.dropout)
 
-        self.activation = get_activation_fn(cfg.feedforward_activation)
-        self.pre_norm = cfg.pre_norm
+        self.activation = get_activation_fn(config.feedforward_activation)
+        self.pre_norm = config.pre_norm
 
     def maybe_add_pos_embed(self, tensor: Tensor, pos_embed: Tensor | None) -> Tensor:
         return tensor if pos_embed is None else tensor + pos_embed
@@ -489,7 +489,7 @@ class ACTDecoderLayer(nn.Module):
         return x
 
 
-def create_sinusoidal_position_embedding(num_positions: int, dimension: int) -> Tensor:
+def create_sinusoidal_pos_embedding(num_positions: int, dimension: int) -> Tensor:
     """1D sinusoidal positional embeddings as in Attention is All You Need.
 
     Args:
diff --git a/lerobot/common/policies/diffusion/modeling_diffusion.py b/lerobot/common/policies/diffusion/modeling_diffusion.py
index 728fa97a..f57daf63 100644
--- a/lerobot/common/policies/diffusion/modeling_diffusion.py
+++ b/lerobot/common/policies/diffusion/modeling_diffusion.py
@@ -9,7 +9,6 @@ TODO(alexander-soare):
 """
 
 import copy
-import logging
 import math
 from collections import deque
 from typing import Callable
@@ -19,6 +18,7 @@ import torch
 import torch.nn.functional as F  # noqa: N812
 import torchvision
 from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
+from huggingface_hub import PyTorchModelHubMixin
 from robomimic.models.base_nets import SpatialSoftmax
 from torch import Tensor, nn
 from torch.nn.modules.batchnorm import _BatchNorm
@@ -32,7 +32,7 @@ from lerobot.common.policies.utils import (
 )
 
 
-class DiffusionPolicy(nn.Module):
+class DiffusionPolicy(nn.Module, PyTorchModelHubMixin):
     """
     Diffusion Policy as per "Diffusion Policy: Visuomotor Policy Learning via Action Diffusion"
     (paper: https://arxiv.org/abs/2303.04137, code: https://github.com/real-stanford/diffusion_policy).
@@ -41,45 +41,50 @@ class DiffusionPolicy(nn.Module):
     name = "diffusion"
 
     def __init__(
-        self, cfg: DiffusionConfig | None = None, lr_scheduler_num_training_steps: int = 0, dataset_stats=None
+        self,
+        config: DiffusionConfig | None = None,
+        dataset_stats=None,
     ):
         """
         Args:
-            cfg: Policy configuration class instance or None, in which case the default instantiation of the
-                 configuration class is used.
+            config: Policy configuration class instance or None, in which case the default instantiation of
+                    the configuration class is used.
         """
         super().__init__()
         # TODO(alexander-soare): LR scheduler will be removed.
-        assert lr_scheduler_num_training_steps > 0
-        if cfg is None:
-            cfg = DiffusionConfig()
-        self.cfg = cfg
-        self.normalize_inputs = Normalize(cfg.input_shapes, cfg.input_normalization_modes, dataset_stats)
-        self.normalize_targets = Normalize(cfg.output_shapes, cfg.output_normalization_modes, dataset_stats)
+        if config is None:
+            config = DiffusionConfig()
+        self.config = config
+        self.normalize_inputs = Normalize(
+            config.input_shapes, config.input_normalization_modes, dataset_stats
+        )
+        self.normalize_targets = Normalize(
+            config.output_shapes, config.output_normalization_modes, dataset_stats
+        )
         self.unnormalize_outputs = Unnormalize(
-            cfg.output_shapes, cfg.output_normalization_modes, dataset_stats
+            config.output_shapes, config.output_normalization_modes, dataset_stats
         )
 
         # queues are populated during rollout of the policy, they contain the n latest observations and actions
         self._queues = None
 
-        self.diffusion = DiffusionModel(cfg)
+        self.diffusion = DiffusionModel(config)
 
         # TODO(alexander-soare): This should probably be managed outside of the policy class.
         self.ema_diffusion = None
         self.ema = None
-        if self.cfg.use_ema:
+        if self.config.use_ema:
             self.ema_diffusion = copy.deepcopy(self.diffusion)
-            self.ema = DiffusionEMA(cfg, model=self.ema_diffusion)
+            self.ema = DiffusionEMA(config, model=self.ema_diffusion)
 
     def reset(self):
         """
         Clear observation and action queues. Should be called on `env.reset()`
         """
         self._queues = {
-            "observation.image": deque(maxlen=self.cfg.n_obs_steps),
-            "observation.state": deque(maxlen=self.cfg.n_obs_steps),
-            "action": deque(maxlen=self.cfg.n_action_steps),
+            "observation.image": deque(maxlen=self.config.n_obs_steps),
+            "observation.state": deque(maxlen=self.config.n_obs_steps),
+            "action": deque(maxlen=self.config.n_action_steps),
         }
 
     @torch.no_grad
@@ -138,46 +143,34 @@ class DiffusionPolicy(nn.Module):
         loss = self.diffusion.compute_loss(batch)
         return {"loss": loss}
 
-    def save(self, fp):
-        torch.save(self.state_dict(), fp)
-
-    def load(self, fp):
-        d = torch.load(fp)
-        missing_keys, unexpected_keys = self.load_state_dict(d, strict=False)
-        if len(missing_keys) > 0:
-            assert all(k.startswith("ema_diffusion.") for k in missing_keys)
-            logging.warning(
-                "DiffusionPolicy.load expected ema parameters in loaded state dict but none were found."
-            )
-        assert len(unexpected_keys) == 0
-
 
 class DiffusionModel(nn.Module):
-    def __init__(self, cfg: DiffusionConfig):
+    def __init__(self, config: DiffusionConfig):
         super().__init__()
-        self.cfg = cfg
+        self.config = config
 
-        self.rgb_encoder = DiffusionRgbEncoder(cfg)
+        self.rgb_encoder = DiffusionRgbEncoder(config)
         self.unet = DiffusionConditionalUnet1d(
-            cfg,
-            global_cond_dim=(cfg.output_shapes["action"][0] + self.rgb_encoder.feature_dim) * cfg.n_obs_steps,
+            config,
+            global_cond_dim=(config.output_shapes["action"][0] + self.rgb_encoder.feature_dim)
+            * config.n_obs_steps,
         )
 
         self.noise_scheduler = DDPMScheduler(
-            num_train_timesteps=cfg.num_train_timesteps,
-            beta_start=cfg.beta_start,
-            beta_end=cfg.beta_end,
-            beta_schedule=cfg.beta_schedule,
+            num_train_timesteps=config.num_train_timesteps,
+            beta_start=config.beta_start,
+            beta_end=config.beta_end,
+            beta_schedule=config.beta_schedule,
             variance_type="fixed_small",
-            clip_sample=cfg.clip_sample,
-            clip_sample_range=cfg.clip_sample_range,
-            prediction_type=cfg.prediction_type,
+            clip_sample=config.clip_sample,
+            clip_sample_range=config.clip_sample_range,
+            prediction_type=config.prediction_type,
         )
 
-        if cfg.num_inference_steps is None:
+        if config.num_inference_steps is None:
             self.num_inference_steps = self.noise_scheduler.config.num_train_timesteps
         else:
-            self.num_inference_steps = cfg.num_inference_steps
+            self.num_inference_steps = config.num_inference_steps
 
     # ========= inference  ============
     def conditional_sample(
@@ -188,7 +181,7 @@ class DiffusionModel(nn.Module):
 
         # Sample prior.
         sample = torch.randn(
-            size=(batch_size, self.cfg.horizon, self.cfg.output_shapes["action"][0]),
+            size=(batch_size, self.config.horizon, self.config.output_shapes["action"][0]),
             dtype=dtype,
             device=device,
             generator=generator,
@@ -218,7 +211,7 @@ class DiffusionModel(nn.Module):
         """
         assert set(batch).issuperset({"observation.state", "observation.image"})
         batch_size, n_obs_steps = batch["observation.state"].shape[:2]
-        assert n_obs_steps == self.cfg.n_obs_steps
+        assert n_obs_steps == self.config.n_obs_steps
 
         # Extract image feature (first combine batch and sequence dims).
         img_features = self.rgb_encoder(einops.rearrange(batch["observation.image"], "b n ... -> (b n) ..."))
@@ -231,10 +224,10 @@ class DiffusionModel(nn.Module):
         sample = self.conditional_sample(batch_size, global_cond=global_cond)
 
         # `horizon` steps worth of actions (from the first observation).
-        actions = sample[..., : self.cfg.output_shapes["action"][0]]
+        actions = sample[..., : self.config.output_shapes["action"][0]]
         # Extract `n_action_steps` steps worth of actions (from the current observation).
         start = n_obs_steps - 1
-        end = start + self.cfg.n_action_steps
+        end = start + self.config.n_action_steps
         actions = actions[:, start:end]
 
         return actions
@@ -253,8 +246,8 @@ class DiffusionModel(nn.Module):
         assert set(batch).issuperset({"observation.state", "observation.image", "action", "action_is_pad"})
         batch_size, n_obs_steps = batch["observation.state"].shape[:2]
         horizon = batch["action"].shape[1]
-        assert horizon == self.cfg.horizon
-        assert n_obs_steps == self.cfg.n_obs_steps
+        assert horizon == self.config.horizon
+        assert n_obs_steps == self.config.n_obs_steps
 
         # Extract image feature (first combine batch and sequence dims).
         img_features = self.rgb_encoder(einops.rearrange(batch["observation.image"], "b n ... -> (b n) ..."))
@@ -283,12 +276,12 @@ class DiffusionModel(nn.Module):
 
         # Compute the loss.
         # The target is either the original trajectory, or the noise.
-        if self.cfg.prediction_type == "epsilon":
+        if self.config.prediction_type == "epsilon":
             target = eps
-        elif self.cfg.prediction_type == "sample":
+        elif self.config.prediction_type == "sample":
             target = batch["action"]
         else:
-            raise ValueError(f"Unsupported prediction type {self.cfg.prediction_type}")
+            raise ValueError(f"Unsupported prediction type {self.config.prediction_type}")
 
         loss = F.mse_loss(pred, target, reduction="none")
 
@@ -306,29 +299,29 @@ class DiffusionRgbEncoder(nn.Module):
     Includes the ability to normalize and crop the image first.
     """
 
-    def __init__(self, cfg: DiffusionConfig):
+    def __init__(self, config: DiffusionConfig):
         super().__init__()
         # Set up optional preprocessing.
-        if cfg.crop_shape is not None:
+        if config.crop_shape is not None:
             self.do_crop = True
             # Always use center crop for eval
-            self.center_crop = torchvision.transforms.CenterCrop(cfg.crop_shape)
-            if cfg.crop_is_random:
-                self.maybe_random_crop = torchvision.transforms.RandomCrop(cfg.crop_shape)
+            self.center_crop = torchvision.transforms.CenterCrop(config.crop_shape)
+            if config.crop_is_random:
+                self.maybe_random_crop = torchvision.transforms.RandomCrop(config.crop_shape)
             else:
                 self.maybe_random_crop = self.center_crop
         else:
             self.do_crop = False
 
         # Set up backbone.
-        backbone_model = getattr(torchvision.models, cfg.vision_backbone)(
-            weights=cfg.pretrained_backbone_weights
+        backbone_model = getattr(torchvision.models, config.vision_backbone)(
+            weights=config.pretrained_backbone_weights
         )
         # Note: This assumes that the layer4 feature map is children()[-3]
         # TODO(alexander-soare): Use a safer alternative.
         self.backbone = nn.Sequential(*(list(backbone_model.children())[:-2]))
-        if cfg.use_group_norm:
-            if cfg.pretrained_backbone_weights:
+        if config.use_group_norm:
+            if config.pretrained_backbone_weights:
                 raise ValueError(
                     "You can't replace BatchNorm in a pretrained model without ruining the weights!"
                 )
@@ -342,11 +335,11 @@ class DiffusionRgbEncoder(nn.Module):
         # Use a dry run to get the feature map shape.
         with torch.inference_mode():
             feat_map_shape = tuple(
-                self.backbone(torch.zeros(size=(1, *cfg.input_shapes["observation.image"]))).shape[1:]
+                self.backbone(torch.zeros(size=(1, *config.input_shapes["observation.image"]))).shape[1:]
             )
-        self.pool = SpatialSoftmax(feat_map_shape, num_kp=cfg.spatial_softmax_num_keypoints)
-        self.feature_dim = cfg.spatial_softmax_num_keypoints * 2
-        self.out = nn.Linear(cfg.spatial_softmax_num_keypoints * 2, self.feature_dim)
+        self.pool = SpatialSoftmax(feat_map_shape, num_kp=config.spatial_softmax_num_keypoints)
+        self.feature_dim = config.spatial_softmax_num_keypoints * 2
+        self.out = nn.Linear(config.spatial_softmax_num_keypoints * 2, self.feature_dim)
         self.relu = nn.ReLU()
 
     def forward(self, x: Tensor) -> Tensor:
@@ -442,34 +435,34 @@ class DiffusionConditionalUnet1d(nn.Module):
     Note: this removes local conditioning as compared to the original diffusion policy code.
     """
 
-    def __init__(self, cfg: DiffusionConfig, global_cond_dim: int):
+    def __init__(self, config: DiffusionConfig, global_cond_dim: int):
         super().__init__()
 
-        self.cfg = cfg
+        self.config = config
 
         # Encoder for the diffusion timestep.
         self.diffusion_step_encoder = nn.Sequential(
-            DiffusionSinusoidalPosEmb(cfg.diffusion_step_embed_dim),
-            nn.Linear(cfg.diffusion_step_embed_dim, cfg.diffusion_step_embed_dim * 4),
+            DiffusionSinusoidalPosEmb(config.diffusion_step_embed_dim),
+            nn.Linear(config.diffusion_step_embed_dim, config.diffusion_step_embed_dim * 4),
             nn.Mish(),
-            nn.Linear(cfg.diffusion_step_embed_dim * 4, cfg.diffusion_step_embed_dim),
+            nn.Linear(config.diffusion_step_embed_dim * 4, config.diffusion_step_embed_dim),
         )
 
         # The FiLM conditioning dimension.
-        cond_dim = cfg.diffusion_step_embed_dim + global_cond_dim
+        cond_dim = config.diffusion_step_embed_dim + global_cond_dim
 
         # In channels / out channels for each downsampling block in the Unet's encoder. For the decoder, we
         # just reverse these.
-        in_out = [(cfg.output_shapes["action"][0], cfg.down_dims[0])] + list(
-            zip(cfg.down_dims[:-1], cfg.down_dims[1:], strict=True)
+        in_out = [(config.output_shapes["action"][0], config.down_dims[0])] + list(
+            zip(config.down_dims[:-1], config.down_dims[1:], strict=True)
         )
 
         # Unet encoder.
         common_res_block_kwargs = {
             "cond_dim": cond_dim,
-            "kernel_size": cfg.kernel_size,
-            "n_groups": cfg.n_groups,
-            "use_film_scale_modulation": cfg.use_film_scale_modulation,
+            "kernel_size": config.kernel_size,
+            "n_groups": config.n_groups,
+            "use_film_scale_modulation": config.use_film_scale_modulation,
         }
         self.down_modules = nn.ModuleList([])
         for ind, (dim_in, dim_out) in enumerate(in_out):
@@ -489,10 +482,10 @@ class DiffusionConditionalUnet1d(nn.Module):
         self.mid_modules = nn.ModuleList(
             [
                 DiffusionConditionalResidualBlock1d(
-                    cfg.down_dims[-1], cfg.down_dims[-1], **common_res_block_kwargs
+                    config.down_dims[-1], config.down_dims[-1], **common_res_block_kwargs
                 ),
                 DiffusionConditionalResidualBlock1d(
-                    cfg.down_dims[-1], cfg.down_dims[-1], **common_res_block_kwargs
+                    config.down_dims[-1], config.down_dims[-1], **common_res_block_kwargs
                 ),
             ]
         )
@@ -514,8 +507,8 @@ class DiffusionConditionalUnet1d(nn.Module):
             )
 
         self.final_conv = nn.Sequential(
-            DiffusionConv1dBlock(cfg.down_dims[0], cfg.down_dims[0], kernel_size=cfg.kernel_size),
-            nn.Conv1d(cfg.down_dims[0], cfg.output_shapes["action"][0], 1),
+            DiffusionConv1dBlock(config.down_dims[0], config.down_dims[0], kernel_size=config.kernel_size),
+            nn.Conv1d(config.down_dims[0], config.output_shapes["action"][0], 1),
         )
 
     def forward(self, x: Tensor, timestep: Tensor | int, global_cond=None) -> Tensor:
@@ -626,13 +619,13 @@ class DiffusionEMA:
     Exponential Moving Average of models weights
     """
 
-    def __init__(self, cfg: DiffusionConfig, model: nn.Module):
+    def __init__(self, config: DiffusionConfig, model: nn.Module):
         """
         @crowsonkb's notes on EMA Warmup:
-            If gamma=1 and power=1, implements a simple average. gamma=1, power=2/3 are good values for models you plan
-            to train for a million or more steps (reaches decay factor 0.999 at 31.6K steps, 0.9999 at 1M steps),
-            gamma=1, power=3/4 for models you plan to train for less (reaches decay factor 0.999 at 10K steps, 0.9999
-            at 215.4k steps).
+            If gamma=1 and power=1, implements a simple average. gamma=1, power=2/3 are good values for models
+            you plan to train for a million or more steps (reaches decay factor 0.999 at 31.6K steps, 0.9999
+            at 1M steps), gamma=1, power=3/4 for models you plan to train for less (reaches decay factor 0.999
+            at 10K steps, 0.9999 at 215.4k steps).
         Args:
             inv_gamma (float): Inverse multiplicative factor of EMA warmup. Default: 1.
             power (float): Exponential factor of EMA warmup. Default: 2/3.
@@ -643,11 +636,11 @@ class DiffusionEMA:
         self.averaged_model.eval()
         self.averaged_model.requires_grad_(False)
 
-        self.update_after_step = cfg.ema_update_after_step
-        self.inv_gamma = cfg.ema_inv_gamma
-        self.power = cfg.ema_power
-        self.min_alpha = cfg.ema_min_alpha
-        self.max_alpha = cfg.ema_max_alpha
+        self.update_after_step = config.ema_update_after_step
+        self.inv_gamma = config.ema_inv_gamma
+        self.power = config.ema_power
+        self.min_alpha = config.ema_min_alpha
+        self.max_alpha = config.ema_max_alpha
 
         self.alpha = 0.0
         self.optimization_step = 0
diff --git a/lerobot/common/policies/factory.py b/lerobot/common/policies/factory.py
index 069c9fc1..727aa80b 100644
--- a/lerobot/common/policies/factory.py
+++ b/lerobot/common/policies/factory.py
@@ -2,6 +2,7 @@ import inspect
 
 from omegaconf import DictConfig, OmegaConf
 
+from lerobot.common.policies.policy_protocol import Policy
 from lerobot.common.utils.utils import get_safe_torch_device
 
 
@@ -20,42 +21,49 @@ def _policy_cfg_from_hydra_cfg(policy_cfg_class, hydra_cfg):
     return policy_cfg
 
 
-def make_policy(hydra_cfg: DictConfig, dataset_stats=None):
-    if hydra_cfg.policy.name == "tdmpc":
-        from lerobot.common.policies.tdmpc.policy import TDMPCPolicy
-
-        policy = TDMPCPolicy(
-            hydra_cfg.policy,
-            n_obs_steps=hydra_cfg.n_obs_steps,
-            n_action_steps=hydra_cfg.n_action_steps,
-            device=hydra_cfg.device,
-        )
-    elif hydra_cfg.policy.name == "diffusion":
+def get_policy_and_config_classes(name: str) -> tuple[Policy, object]:
+    """Get the policy's class and config class given a name (matching the policy class' `name` attribute)."""
+    if name == "tdmpc":
+        raise NotImplementedError("Coming soon!")
+    elif name == "diffusion":
         from lerobot.common.policies.diffusion.configuration_diffusion import DiffusionConfig
         from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
 
-        policy_cfg = _policy_cfg_from_hydra_cfg(DiffusionConfig, hydra_cfg)
-        policy = DiffusionPolicy(policy_cfg, hydra_cfg.training.offline_steps, dataset_stats)
-        policy.to(get_safe_torch_device(hydra_cfg.device))
-    elif hydra_cfg.policy.name == "act":
+        return DiffusionPolicy, DiffusionConfig
+    elif name == "act":
         from lerobot.common.policies.act.configuration_act import ACTConfig
         from lerobot.common.policies.act.modeling_act import ACTPolicy
 
-        policy_cfg = _policy_cfg_from_hydra_cfg(ACTConfig, hydra_cfg)
-        policy = ACTPolicy(policy_cfg, dataset_stats)
+        return ACTPolicy, ACTConfig
+    else:
+        raise NotImplementedError(f"Policy with name {name} is not implemented.")
+
+
+def make_policy(
+    hydra_cfg: DictConfig, pretrained_policy_name_or_path: str | None = None, dataset_stats=None
+) -> Policy:
+    """Make an instance of a policy class.
+
+    Args:
+        hydra_cfg: A parsed Hydra configuration (see scripts). If `pretrained_policy_name_or_path` is
+            provided, only `hydra_cfg.policy.name` is used while everything else is ignored.
+        pretrained_policy_name_or_path: Either the repo ID of a model hosted on the Hub or a path to a
+            directory containing weights saved using `Policy.save_pretrained`. Note that providing this
+            argument overrides everything in `hydra_cfg.policy` apart from `hydra_cfg.policy.name`.
+        dataset_stats: Dataset statistics to use for (un)normalization of inputs/outputs in the policy. Must
+            be provided when initializing a new policy, and must not be provided when loading a pretrained
+            policy. Therefore, this argument is mutually exclusive with `pretrained_policy_name_or_path`.
+    """
+    if not (pretrained_policy_name_or_path is None) ^ (dataset_stats is None):
+        raise ValueError("Only one of `pretrained_policy_name_or_path` and `dataset_stats` may be provided.")
+
+    policy_cls, policy_cfg_class = get_policy_and_config_classes(hydra_cfg.policy.name)
+
+    if pretrained_policy_name_or_path is None:
+        policy_cfg = _policy_cfg_from_hydra_cfg(policy_cfg_class, hydra_cfg)
+        policy = policy_cls(policy_cfg, dataset_stats)
         policy.to(get_safe_torch_device(hydra_cfg.device))
     else:
-        raise ValueError(hydra_cfg.policy.name)
-
-    if hydra_cfg.policy.pretrained_model_path:
-        # TODO(rcadene): hack for old pretrained models from fowm
-        if hydra_cfg.policy.name == "tdmpc" and "fowm" in hydra_cfg.policy.pretrained_model_path:
-            if "offline" in hydra_cfg.policy.pretrained_model_path:
-                policy.step[0] = 25000
-            elif "final" in hydra_cfg.policy.pretrained_model_path:
-                policy.step[0] = 100000
-            else:
-                raise NotImplementedError()
-        policy.load(hydra_cfg.policy.pretrained_model_path)
+        policy = policy_cls.from_pretrained(pretrained_policy_name_or_path)
 
     return policy
diff --git a/lerobot/common/policies/normalize.py b/lerobot/common/policies/normalize.py
index df615a21..ab57c8ba 100644
--- a/lerobot/common/policies/normalize.py
+++ b/lerobot/common/policies/normalize.py
@@ -57,17 +57,28 @@ def create_stats_buffers(
             )
 
         if stats is not None:
+            # Note: The clone is needed to make sure that the logic in save_pretrained doesn't see duplicated
+            # tensors anywhere (for example, when we use the same stats for normalization and
+            # unnormalization). See the logic here
+            # https://github.com/huggingface/safetensors/blob/079781fd0dc455ba0fe851e2b4507c33d0c0d407/bindings/python/py_src/safetensors/torch.py#L97.
             if mode == "mean_std":
-                buffer["mean"].data = stats[key]["mean"]
-                buffer["std"].data = stats[key]["std"]
+                buffer["mean"].data = stats[key]["mean"].clone()
+                buffer["std"].data = stats[key]["std"].clone()
             elif mode == "min_max":
-                buffer["min"].data = stats[key]["min"]
-                buffer["max"].data = stats[key]["max"]
+                buffer["min"].data = stats[key]["min"].clone()
+                buffer["max"].data = stats[key]["max"].clone()
 
         stats_buffers[key] = buffer
     return stats_buffers
 
 
+def _no_stats_error_str(name: str) -> str:
+    return (
+        f"`{name}` is infinity. You should either initialize with `stats` as an argument, or use a "
+        "pretrained model."
+    )
+
+
 class Normalize(nn.Module):
     """Normalizes data (e.g. "observation.image") for more stable and faster convergence during training."""
 
@@ -99,7 +110,6 @@ class Normalize(nn.Module):
         self.shapes = shapes
         self.modes = modes
         self.stats = stats
-        # `self.buffer_observation_state["mean"]` contains `torch.tensor(state_dim)`
         stats_buffers = create_stats_buffers(shapes, modes, stats)
         for key, buffer in stats_buffers.items():
             setattr(self, "buffer_" + key.replace(".", "_"), buffer)
@@ -113,26 +123,14 @@ class Normalize(nn.Module):
             if mode == "mean_std":
                 mean = buffer["mean"]
                 std = buffer["std"]
-                assert not torch.isinf(mean).any(), (
-                    "`mean` is infinity. You forgot to initialize with `stats` as argument, or called "
-                    "`policy.load_state_dict`."
-                )
-                assert not torch.isinf(std).any(), (
-                    "`std` is infinity. You forgot to initialize with `stats` as argument, or called "
-                    "`policy.load_state_dict`."
-                )
+                assert not torch.isinf(mean).any(), _no_stats_error_str("mean")
+                assert not torch.isinf(std).any(), _no_stats_error_str("std")
                 batch[key] = (batch[key] - mean) / (std + 1e-8)
             elif mode == "min_max":
                 min = buffer["min"]
                 max = buffer["max"]
-                assert not torch.isinf(min).any(), (
-                    "`min` is infinity. You forgot to initialize with `stats` as argument, or called "
-                    "`policy.load_state_dict`."
-                )
-                assert not torch.isinf(max).any(), (
-                    "`max` is infinity. You forgot to initialize with `stats` as argument, or called "
-                    "`policy.load_state_dict`."
-                )
+                assert not torch.isinf(min).any(), _no_stats_error_str("min")
+                assert not torch.isinf(max).any(), _no_stats_error_str("max")
                 # normalize to [0,1]
                 batch[key] = (batch[key] - min) / (max - min)
                 # normalize to [-1, 1]
@@ -190,26 +188,14 @@ class Unnormalize(nn.Module):
             if mode == "mean_std":
                 mean = buffer["mean"]
                 std = buffer["std"]
-                assert not torch.isinf(mean).any(), (
-                    "`mean` is infinity. You forgot to initialize with `stats` as argument, or called "
-                    "`policy.load_state_dict`."
-                )
-                assert not torch.isinf(std).any(), (
-                    "`std` is infinity. You forgot to initialize with `stats` as argument, or called "
-                    "`policy.load_state_dict`."
-                )
+                assert not torch.isinf(mean).any(), _no_stats_error_str("mean")
+                assert not torch.isinf(std).any(), _no_stats_error_str("std")
                 batch[key] = batch[key] * std + mean
             elif mode == "min_max":
                 min = buffer["min"]
                 max = buffer["max"]
-                assert not torch.isinf(min).any(), (
-                    "`min` is infinity. You forgot to initialize with `stats` as argument, or called "
-                    "`policy.load_state_dict`."
-                )
-                assert not torch.isinf(max).any(), (
-                    "`max` is infinity. You forgot to initialize with `stats` as argument, or called "
-                    "`policy.load_state_dict`."
-                )
+                assert not torch.isinf(min).any(), _no_stats_error_str("min")
+                assert not torch.isinf(max).any(), _no_stats_error_str("max")
                 batch[key] = (batch[key] + 1) / 2
                 batch[key] = batch[key] * (max - min) + min
             else:
diff --git a/lerobot/common/policies/policy_protocol.py b/lerobot/common/policies/policy_protocol.py
index 29317fa0..62bc9dfc 100644
--- a/lerobot/common/policies/policy_protocol.py
+++ b/lerobot/common/policies/policy_protocol.py
@@ -14,7 +14,10 @@ from torch import Tensor
 
 @runtime_checkable
 class Policy(Protocol):
-    """The required interface for implementing a policy."""
+    """The required interface for implementing a policy.
+
+    We also expect all policies to subclass torch.nn.Module and PyTorchModelHubMixin.
+    """
 
     name: str
 
diff --git a/lerobot/configs/policy/act.yaml b/lerobot/configs/policy/act.yaml
index c03cd58f..c0f47c44 100644
--- a/lerobot/configs/policy/act.yaml
+++ b/lerobot/configs/policy/act.yaml
@@ -34,8 +34,6 @@ eval:
 policy:
   name: act
 
-  pretrained_model_path:
-
   # Input / output structure.
   n_obs_steps: 1
   chunk_size: 100 # chunk_size
@@ -62,7 +60,7 @@ policy:
   replace_final_stride_with_dilation: false
   # Transformer layers.
   pre_norm: false
-  d_model: 512
+  dim_model: 512
   n_heads: 8
   dim_feedforward: 3200
   feedforward_activation: relu
diff --git a/lerobot/configs/policy/diffusion.yaml b/lerobot/configs/policy/diffusion.yaml
index 49dc8650..f1b05185 100644
--- a/lerobot/configs/policy/diffusion.yaml
+++ b/lerobot/configs/policy/diffusion.yaml
@@ -46,8 +46,6 @@ override_dataset_stats:
 policy:
   name: diffusion
 
-  pretrained_model_path:
-
   # Input / output structure.
   n_obs_steps: 2
   horizon: 16
diff --git a/lerobot/scripts/eval.py b/lerobot/scripts/eval.py
index 9be2be3a..c74af290 100644
--- a/lerobot/scripts/eval.py
+++ b/lerobot/scripts/eval.py
@@ -1,30 +1,29 @@
 """Evaluate a policy on an environment by running rollouts and computing metrics.
 
-The script may be run in one of two ways:
+Usage examples:
 
-1. By providing the path to a config file with the --config argument.
-2. By providing a HuggingFace Hub ID with the --hub-id argument. You may also provide a revision number with the
-    --revision argument.
+You want to evaluate a model from the hub (eg: https://huggingface.co/lerobot/diffusion_policy_pusht_image)
+for 10 episodes.
 
-In either case, it is possible to override config arguments by adding a list of config.key=value arguments.
+```
+python lerobot/scripts/eval.py -p lerobot/diffusion_policy_pusht_image eval.n_episodes=10
+```
 
-Examples:
-
-You have a specific config file to go with trained model weights, and want to run 10 episodes.
+OR, you want to evaluate a model checkpoint from the LeRobot training script for 10 episodes.
 
 ```
 python lerobot/scripts/eval.py \
---config PATH/TO/FOLDER/config.yaml \
-policy.pretrained_model_path=PATH/TO/FOLDER/weights.pth \
-eval.n_episodes=10
+    -p outputs/train/diffusion_policy_pusht_image/checkpoints/005000 \
+    eval.n_episodes=10
 ```
 
-You have a HuggingFace Hub ID, you know which revision you want, and want to run 10 episodes (note that in this case,
-you don't need to specify which weights to use):
+Note that in both examples, the repo/folder should contain at least `config.json`, `config.yaml` and
+`model.safetensors`.
 
-```
-python lerobot/scripts/eval.py --hub-id HUB/ID --revision v1.0 eval.n_episodes=10
-```
+Note the formatting for providing the number of episodes. Generally, you may provide any number of arguments
+with `qualified.parameter.name=value`. In this case, the parameter eval.n_episodes appears as `n_episodes`
+nested under `eval` in the `config.yaml` found at
+https://huggingface.co/lerobot/diffusion_policy_pusht_image/tree/main.
 """
 
 import argparse
@@ -42,9 +41,12 @@ import numpy as np
 import torch
 from datasets import Dataset, Features, Image, Sequence, Value
 from huggingface_hub import snapshot_download
+from huggingface_hub.utils._errors import RepositoryNotFoundError
+from huggingface_hub.utils._validators import HFValidationError
 from PIL import Image as PILImage
 from tqdm import trange
 
+from lerobot.common.datasets.factory import make_dataset
 from lerobot.common.datasets.utils import hf_transform_to_torch
 from lerobot.common.envs.factory import make_env
 from lerobot.common.envs.utils import postprocess_action, preprocess_observation
@@ -349,26 +351,41 @@ def eval_policy(
     return info
 
 
-def eval(cfg: dict, out_dir=None):
+def eval(
+    pretrained_policy_path: str | None = None,
+    hydra_cfg_path: str | None = None,
+    config_overrides: list[str] | None = None,
+):
+    assert (pretrained_policy_path is None) ^ (hydra_cfg_path is None)
+    if hydra_cfg_path is None:
+        hydra_cfg = init_hydra_config(pretrained_policy_path / "config.yaml", config_overrides)
+    else:
+        hydra_cfg = init_hydra_config(hydra_cfg_path, config_overrides)
+    out_dir = (
+        f"outputs/eval/{dt.now().strftime('%Y-%m-%d/%H-%M-%S')}_{hydra_cfg.env.name}_{hydra_cfg.policy.name}"
+    )
+
     if out_dir is None:
         raise NotImplementedError()
 
-    init_logging()
-
     # Check device is available
-    get_safe_torch_device(cfg.device, log=True)
+    get_safe_torch_device(hydra_cfg.device, log=True)
 
     torch.backends.cudnn.benchmark = True
     torch.backends.cuda.matmul.allow_tf32 = True
-    set_global_seed(cfg.seed)
+    set_global_seed(hydra_cfg.seed)
 
     log_output_dir(out_dir)
 
     logging.info("Making environment.")
-    env = make_env(cfg, num_parallel_envs=cfg.eval.n_episodes)
+    env = make_env(hydra_cfg, num_parallel_envs=hydra_cfg.eval.n_episodes)
 
     logging.info("Making policy.")
-    policy = make_policy(cfg)
+    if hydra_cfg_path is None:
+        policy = make_policy(hydra_cfg=hydra_cfg, pretrained_policy_name_or_path=pretrained_policy_path)
+    else:
+        # Note: We need the dataset stats to pass to the policy's normalization modules.
+        policy = make_policy(hydra_cfg=hydra_cfg, dataset_stats=make_dataset(hydra_cfg).stats)
 
     info = eval_policy(
         env,
@@ -376,7 +393,7 @@ def eval(cfg: dict, out_dir=None):
         max_episodes_rendered=10,
         video_dir=Path(out_dir) / "eval",
         return_episode_data=False,
-        seed=cfg.seed,
+        seed=hydra_cfg.seed,
     )
     print(info["aggregated"])
 
@@ -390,13 +407,29 @@ def eval(cfg: dict, out_dir=None):
 
 
 if __name__ == "__main__":
+    init_logging()
+
     parser = argparse.ArgumentParser(
         description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter
     )
     group = parser.add_mutually_exclusive_group(required=True)
-    group.add_argument("--config", help="Path to a specific yaml config you want to use.")
-    group.add_argument("--hub-id", help="HuggingFace Hub ID for a pretrained model.")
-    parser.add_argument("--revision", help="Optionally provide the HuggingFace Hub revision ID.")
+    group.add_argument(
+        "-p",
+        "--pretrained-policy-name-or-path",
+        help=(
+            "Either the repo ID of a model hosted on the Hub or a path to a directory containing weights "
+            "saved using `Policy.save_pretrained`. If not provided, the policy is initialized from scratch "
+            "(useful for debugging). This argument is mutually exclusive with `--config`."
+        ),
+    )
+    group.add_argument(
+        "--config",
+        help=(
+            "Path to a yaml config you want to use for initializing a policy from scratch (useful for "
+            "debugging). This argument is mutually exclusive with `--pretrained-policy-name-or-path` (`-p`)."
+        ),
+    )
+    parser.add_argument("--revision", help="Optionally provide the Hugging Face Hub revision ID.")
     parser.add_argument(
         "overrides",
         nargs="*",
@@ -404,16 +437,28 @@ if __name__ == "__main__":
     )
     args = parser.parse_args()
 
-    if args.config is not None:
-        # Note: For the config_path, Hydra wants a path relative to this script file.
-        cfg = init_hydra_config(args.config, args.overrides)
-    elif args.hub_id is not None:
-        folder = Path(snapshot_download(args.hub_id, revision=args.revision))
-        cfg = init_hydra_config(
-            folder / "config.yaml", [f"policy.pretrained_model_path={folder / 'model.pt'}", *args.overrides]
-        )
+    if args.pretrained_policy_name_or_path is None:
+        eval(hydra_cfg_path=args.config, config_overrides=args.overrides)
+    else:
+        try:
+            pretrained_policy_path = Path(
+                snapshot_download(args.pretrained_policy_name_or_path, revision=args.revision)
+            )
+        except HFValidationError:
+            logging.warning(
+                "The provided pretrained_policy_name_or_path is not a valid Hugging Face Hub repo ID. "
+                "Treating it as a local directory."
+            )
+        except RepositoryNotFoundError:
+            logging.warning(
+                "The provided pretrained_policy_name_or_path was not found on the Hugging Face Hub. Treating "
+                "it as a local directory."
+            )
+        pretrained_policy_path = Path(args.pretrained_policy_name_or_path)
+        if not pretrained_policy_path.is_dir() or not pretrained_policy_path.exists():
+            raise ValueError(
+                "The provided pretrained_policy_name_or_path is not a valid/existing Hugging Face Hub "
+                "repo ID, nor is it an existing local directory."
+            )
 
-    eval(
-        cfg,
-        out_dir=f"outputs/eval/{dt.now().strftime('%Y-%m-%d/%H-%M-%S')}_{cfg.env.name}_{cfg.policy.name}",
-    )
+        eval(pretrained_policy_path=pretrained_policy_path, config_overrides=args.overrides)
diff --git a/lerobot/scripts/train.py b/lerobot/scripts/train.py
index 52c29fb3..565c5f3a 100644
--- a/lerobot/scripts/train.py
+++ b/lerobot/scripts/train.py
@@ -265,7 +265,7 @@ def train(cfg: dict, out_dir=None, job_name=None):
     env = make_env(cfg, num_parallel_envs=cfg.eval.n_episodes)
 
     logging.info("make_policy")
-    policy = make_policy(cfg, dataset_stats=offline_dataset.stats)
+    policy = make_policy(hydra_cfg=cfg, dataset_stats=offline_dataset.stats)
 
     # Create optimizer and scheduler
     # Temporary hack to move optimizer out of policy
@@ -340,7 +340,14 @@ def train(cfg: dict, out_dir=None, job_name=None):
 
         if cfg.training.save_model and step % cfg.training.save_freq == 0:
             logging.info(f"Checkpoint policy after step {step}")
-            logger.save_model(policy, identifier=step)
+            # Note: Save with step as the identifier, and format it to have at least 6 digits but more if
+            # needed (choose 6 as a minimum for consistency without being overkill).
+            logger.save_model(
+                policy,
+                identifier=str(step).zfill(
+                    max(6, len(str(cfg.training.offline_steps + cfg.training.online_steps)))
+                ),
+            )
             logging.info("Resume training")
 
     # create dataloader for offline training
diff --git a/poetry.lock b/poetry.lock
index 79c48641..89d35a55 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -826,13 +826,13 @@ files = [
 
 [[package]]
 name = "filelock"
-version = "3.13.4"
+version = "3.14.0"
 description = "A platform independent file lock."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "filelock-3.13.4-py3-none-any.whl", hash = "sha256:404e5e9253aa60ad457cae1be07c0f0ca90a63931200a47d9b6a6af84fd7b45f"},
-    {file = "filelock-3.13.4.tar.gz", hash = "sha256:d13f466618bfde72bd2c18255e269f72542c6e70e7bac83a0232d6b1cc5c8cf4"},
+    {file = "filelock-3.14.0-py3-none-any.whl", hash = "sha256:43339835842f110ca7ae60f1e1c160714c5a6afd15a2873419ab185334975c0f"},
+    {file = "filelock-3.14.0.tar.gz", hash = "sha256:6ea72da3be9b8c82afd3edcf99f2fffbb5076335a5ae4d03248bb5b6c3eae78a"},
 ]
 
 [package.extras]
@@ -1039,69 +1039,61 @@ preview = ["glfw-preview"]
 
 [[package]]
 name = "grpcio"
-version = "1.62.2"
+version = "1.63.0"
 description = "HTTP/2-based RPC framework"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 files = [
-    {file = "grpcio-1.62.2-cp310-cp310-linux_armv7l.whl", hash = "sha256:66344ea741124c38588a664237ac2fa16dfd226964cca23ddc96bd4accccbde5"},
-    {file = "grpcio-1.62.2-cp310-cp310-macosx_12_0_universal2.whl", hash = "sha256:5dab7ac2c1e7cb6179c6bfad6b63174851102cbe0682294e6b1d6f0981ad7138"},
-    {file = "grpcio-1.62.2-cp310-cp310-manylinux_2_17_aarch64.whl", hash = "sha256:3ad00f3f0718894749d5a8bb0fa125a7980a2f49523731a9b1fabf2b3522aa43"},
-    {file = "grpcio-1.62.2-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2e72ddfee62430ea80133d2cbe788e0d06b12f865765cb24a40009668bd8ea05"},
-    {file = "grpcio-1.62.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:53d3a59a10af4c2558a8e563aed9f256259d2992ae0d3037817b2155f0341de1"},
-    {file = "grpcio-1.62.2-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:a1511a303f8074f67af4119275b4f954189e8313541da7b88b1b3a71425cdb10"},
-    {file = "grpcio-1.62.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:b94d41b7412ef149743fbc3178e59d95228a7064c5ab4760ae82b562bdffb199"},
-    {file = "grpcio-1.62.2-cp310-cp310-win32.whl", hash = "sha256:a75af2fc7cb1fe25785be7bed1ab18cef959a376cdae7c6870184307614caa3f"},
-    {file = "grpcio-1.62.2-cp310-cp310-win_amd64.whl", hash = "sha256:80407bc007754f108dc2061e37480238b0dc1952c855e86a4fc283501ee6bb5d"},
-    {file = "grpcio-1.62.2-cp311-cp311-linux_armv7l.whl", hash = "sha256:c1624aa686d4b36790ed1c2e2306cc3498778dffaf7b8dd47066cf819028c3ad"},
-    {file = "grpcio-1.62.2-cp311-cp311-macosx_10_10_universal2.whl", hash = "sha256:1c1bb80299bdef33309dff03932264636450c8fdb142ea39f47e06a7153d3063"},
-    {file = "grpcio-1.62.2-cp311-cp311-manylinux_2_17_aarch64.whl", hash = "sha256:db068bbc9b1fa16479a82e1ecf172a93874540cb84be69f0b9cb9b7ac3c82670"},
-    {file = "grpcio-1.62.2-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e2cc8a308780edbe2c4913d6a49dbdb5befacdf72d489a368566be44cadaef1a"},
-    {file = "grpcio-1.62.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d0695ae31a89f1a8fc8256050329a91a9995b549a88619263a594ca31b76d756"},
-    {file = "grpcio-1.62.2-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:88b4f9ee77191dcdd8810241e89340a12cbe050be3e0d5f2f091c15571cd3930"},
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-protobuf = ["grpcio-tools (>=1.62.2)"]
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 [[package]]
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+    {file = "regex-2024.4.28.tar.gz", hash = "sha256:83ab366777ea45d58f72593adf35d36ca911ea8bd838483c1823b883a121b0e4"},
 ]
 
 [[package]]
@@ -3959,13 +3935,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.26.0"
+version = "20.26.1"
 description = "Virtual Python Environment builder"
 optional = true
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.26.0-py3-none-any.whl", hash = "sha256:0846377ea76e818daaa3e00a4365c018bc3ac9760cbb3544de542885aad61fb3"},
-    {file = "virtualenv-20.26.0.tar.gz", hash = "sha256:ec25a9671a5102c8d2657f62792a27b48f016664c6873f6beed3800008577210"},
+    {file = "virtualenv-20.26.1-py3-none-any.whl", hash = "sha256:7aa9982a728ae5892558bff6a2839c00b9ed145523ece2274fad6f414690ae75"},
+    {file = "virtualenv-20.26.1.tar.gz", hash = "sha256:604bfdceaeece392802e6ae48e69cec49168b9c5f4a44e483963f9242eb0e78b"},
 ]
 
 [package.dependencies]
diff --git a/tests/test_examples.py b/tests/test_examples.py
index 70dfdd35..1fca45f5 100644
--- a/tests/test_examples.py
+++ b/tests/test_examples.py
@@ -46,7 +46,7 @@ def test_examples_3_and_2():
     # Pass empty globals to allow dictionary comprehension https://stackoverflow.com/a/32897127/4391249.
     exec(file_contents, {})
 
-    for file_name in ["model.pt", "config.yaml"]:
+    for file_name in ["model.safetensors", "config.json", "config.yaml"]:
         assert Path(f"outputs/train/example_pusht_diffusion/{file_name}").exists()
 
     path = "examples/2_evaluate_pretrained_policy.py"
@@ -58,15 +58,15 @@ def test_examples_3_and_2():
     file_contents = _find_and_replace(
         file_contents,
         [
+            ('pretrained_policy_name = "lerobot/diffusion_policy_pusht_image"', ""),
+            ("pretrained_policy_path = Path(snapshot_download(pretrained_policy_name))", ""),
+            (
+                '# pretrained_policy_path = Path("outputs/train/example_pusht_diffusion")',
+                'pretrained_policy_path = Path("outputs/train/example_pusht_diffusion")',
+            ),
             ('"eval.n_episodes=10"', '"eval.n_episodes=1"'),
             ('"eval.batch_size=10"', '"eval.batch_size=1"'),
             ('"device=cuda"', '"device=cpu"'),
-            (
-                '# folder = Path("outputs/train/example_pusht_diffusion")',
-                'folder = Path("outputs/train/example_pusht_diffusion")',
-            ),
-            ('hub_id = "lerobot/diffusion_policy_pusht_image"', ""),
-            ("folder = Path(snapshot_download(hub_id)", ""),
         ],
     )
 
diff --git a/tests/test_policies.py b/tests/test_policies.py
index 9151c666..ed046659 100644
--- a/tests/test_policies.py
+++ b/tests/test_policies.py
@@ -1,19 +1,33 @@
+import inspect
+
 import pytest
 import torch
+from huggingface_hub import PyTorchModelHubMixin
 
+from lerobot import available_policies
 from lerobot.common.datasets.factory import make_dataset
 from lerobot.common.datasets.utils import cycle
 from lerobot.common.envs.factory import make_env
 from lerobot.common.envs.utils import postprocess_action, preprocess_observation
-from lerobot.common.policies.act.modeling_act import ACTPolicy
-from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy
-from lerobot.common.policies.factory import make_policy
+from lerobot.common.policies.factory import get_policy_and_config_classes, make_policy
 from lerobot.common.policies.normalize import Normalize, Unnormalize
 from lerobot.common.policies.policy_protocol import Policy
 from lerobot.common.utils.utils import init_hydra_config
 from tests.utils import DEFAULT_CONFIG_PATH, DEVICE, require_env
 
 
+@pytest.mark.parametrize("policy_name", available_policies)
+def test_get_policy_and_config_classes(policy_name: str):
+    """Check that the correct policy and config classes are returned."""
+    if policy_name == "tdmpc":
+        with pytest.raises(NotImplementedError):
+            get_policy_and_config_classes(policy_name)
+        return
+    policy_cls, config_cls = get_policy_and_config_classes(policy_name)
+    assert policy_cls.name == policy_name
+    assert issubclass(config_cls, inspect.signature(policy_cls.__init__).parameters["config"].annotation)
+
+
 # TODO(aliberts): refactor using lerobot/__init__.py variables
 @pytest.mark.parametrize(
     "env_name,policy_name,extra_overrides",
@@ -44,7 +58,8 @@ def test_policy(env_name, policy_name, extra_overrides):
     """
     Tests:
         - Making the policy object.
-        - Checking that the policy follows the correct protocol.
+        - Checking that the policy follows the correct protocol and subclasses nn.Module
+            and PyTorchModelHubMixin.
         - Updating the policy.
         - Using the policy to select actions at inference time.
         - Test the action can be applied to the policy
@@ -61,11 +76,13 @@ def test_policy(env_name, policy_name, extra_overrides):
 
     # Check that we can make the policy object.
     dataset = make_dataset(cfg)
-    policy = make_policy(cfg, dataset_stats=dataset.stats)
+    policy = make_policy(hydra_cfg=cfg, dataset_stats=dataset.stats)
     # Check that the policy follows the required protocol.
     assert isinstance(
         policy, Policy
     ), f"The policy does not follow the required protocol. Please see {Policy.__module__}.{Policy.__name__}."
+    assert isinstance(policy, torch.nn.Module)
+    assert isinstance(policy, PyTorchModelHubMixin)
 
     # Check that we run select_actions and get the appropriate output.
     env = make_env(cfg, num_parallel_envs=2)
@@ -108,29 +125,33 @@ def test_policy(env_name, policy_name, extra_overrides):
     # Test step through policy
     env.step(action)
 
-    # Test load state_dict
-    if policy_name != "tdmpc":
-        # TODO(rcadene, alexander-soare): make it work for tdmpc
-        new_policy = make_policy(cfg)
-        new_policy.load_state_dict(policy.state_dict())
+
+@pytest.mark.parametrize("policy_name", available_policies)
+def test_policy_defaults(policy_name: str):
+    """Check that the policy can be instantiated with defaults."""
+    if policy_name == "tdmpc":
+        with pytest.raises(NotImplementedError):
+            get_policy_and_config_classes(policy_name)
+        return
+    policy_cls, _ = get_policy_and_config_classes(policy_name)
+    policy_cls()
 
 
-@pytest.mark.parametrize("policy_cls", [DiffusionPolicy, ACTPolicy])
-def test_policy_defaults(policy_cls):
-    kwargs = {}
-    # TODO(alexander-soare): Remove this kwargs hack when we move the scheduler out of DP.
-    if policy_cls is DiffusionPolicy:
-        kwargs = {"lr_scheduler_num_training_steps": 1}
-    policy_cls(**kwargs)
+@pytest.mark.parametrize("policy_name", available_policies)
+def test_save_and_load_pretrained(policy_name: str):
+    if policy_name == "tdmpc":
+        with pytest.raises(NotImplementedError):
+            get_policy_and_config_classes(policy_name)
+        return
+    policy_cls, _ = get_policy_and_config_classes(policy_name)
+    policy: Policy = policy_cls()
+    save_dir = "/tmp/test_save_and_load_pretrained_{policy_cls.__name__}"
+    policy.save_pretrained(save_dir)
+    policy_ = policy_cls.from_pretrained(save_dir)
+    assert all(torch.equal(p, p_) for p, p_ in zip(policy.parameters(), policy_.parameters(), strict=True))
 
 
-@pytest.mark.parametrize(
-    "insert_temporal_dim",
-    [
-        False,
-        True,
-    ],
-)
+@pytest.mark.parametrize("insert_temporal_dim", [False, True])
 def test_normalize(insert_temporal_dim):
     """
     Test that normalize/unnormalize can run without exceptions when properly set up, and that they raise