factory for scheduler

lerobot/common/policies/diffusion/modeling_diffusion.py

@@ -28,6 +28,19 @@ from lerobot.common.policies.utils import (
 )
 
 
+def _make_noise_scheduler(name: str, kwargs: dict) -> DDPMScheduler | DDIMScheduler:
+    """
+    Factory for noise scheduler instances of the given name. All kwargs are passed
+    to the scheduler.
+    """
+    if name == "DDPM":
+        return DDPMScheduler(**kwargs)
+    elif name == "DDIM":
+        return DDIMScheduler(**kwargs)
+    else:
+        raise ValueError(f"Unsupported noise scheduler type {name}")
+
+
 class DiffusionPolicy(nn.Module, PyTorchModelHubMixin):
     """
     Diffusion Policy as per "Diffusion Policy: Visuomotor Policy Learning via Action Diffusion"
@@ -139,10 +152,8 @@ class DiffusionModel(nn.Module):
             * config.n_obs_steps,
         )
 
-        noise_scheduler_class = DDPMScheduler
-        if config.noise_scheduler_type == "DDIM":
-            noise_scheduler_class = DDIMScheduler
-        self.noise_scheduler = noise_scheduler_class(
+        self.noise_scheduler = _make_noise_scheduler(
+            config.noise_scheduler_type,
             num_train_timesteps=config.num_train_timesteps,
             beta_start=config.beta_start,
             beta_end=config.beta_end,