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Fix --control.policy.path #662

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Merged
aliberts merged 1 commit into from
Jan 29, 2025
Merged

Fix --control.policy.path #662

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9 changes: 7 additions & 2 deletions lerobot/common/robot_devices/control_configs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -89,9 +89,9 @@ class RecordControlConfig(ControlConfig):

def __post_init__(self):
# HACK: We parse again the cli args here to get the pretrained path if there was one.
policy_path = parser.get_path_arg("policy")
policy_path = parser.get_path_arg("control.policy")
if policy_path:
cli_overrides = parser.get_cli_overrides("policy")
cli_overrides = parser.get_cli_overrides("control.policy")
self.policy = PreTrainedConfig.from_pretrained(policy_path, cli_overrides=cli_overrides)
self.policy.pretrained_path = policy_path

Expand Down Expand Up @@ -139,3 +139,8 @@ class ReplayControlConfig(ControlConfig):
class ControlPipelineConfig:
robot: RobotConfig
control: ControlConfig

@classmethod
def __get_path_fields__(cls) -> list[str]:
"""This enables the parser to load config from the policy using `--policy.path=local/dir`"""
return ["control.policy"]