1from lerobot.policies.smolvla_sac.modeling_smolvla_sac import SmolVLASACPolicy
2import torch
3
4# 加载模型
5checkpoint = torch.load("final_critic.pth")
6critic_state_dict = checkpoint['critic_state_dict']
7
8# 在你的 SmolVLASACPolicy 中加载权重
9policy.critic.load_state_dict(critic_state_dict)