fix from pretrained

src/lerobot/policies/pi05_openpi/modeling_pi05openpi.py

@@ -14,9 +14,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import builtins
 import logging
 import math
 from collections import deque
+from pathlib import Path
 from typing import Literal
 
 import torch
@@ -28,10 +30,11 @@ from transformers.models.gemma import modeling_gemma
 from transformers.models.gemma.modeling_gemma import GemmaForCausalLM
 from transformers.models.paligemma.modeling_paligemma import PaliGemmaForConditionalGeneration
 
+from lerobot.configs.policies import PreTrainedConfig
 from lerobot.constants import ACTION, OBS_STATE
 from lerobot.policies.normalize import Normalize, Unnormalize
 from lerobot.policies.pi05_openpi.configuration_pi05openpi import PI05OpenPIConfig
-from lerobot.policies.pretrained import PreTrainedPolicy
+from lerobot.policies.pretrained import PreTrainedPolicy, T
 
 
 # Helper functions
@@ -865,10 +868,24 @@ class PI05OpenPIPolicy(PreTrainedPolicy):
         self.reset()
 
     @classmethod
-    def from_pretrained(cls, pretrained_name_or_path: str, strict: bool = True, *args, **kwargs):
+    def from_pretrained(
+        cls: builtins.type[T],
+        pretrained_name_or_path: str | Path,
+        *,
+        config: PreTrainedConfig | None = None,
+        force_download: bool = False,
+        resume_download: bool | None = None,
+        proxies: dict | None = None,
+        token: str | bool | None = None,
+        cache_dir: str | Path | None = None,
+        local_files_only: bool = False,
+        revision: str | None = None,
+        strict: bool = True,
+        **kwargs,
+    ) -> T:
         """Override the from_pretrained method to handle key remapping and display important disclaimer."""
         print(
-            "⚠️  DISCLAIMER: The PI0OpenPI model is a direct PyTorch port of the OpenPI implementation. \n"
+            "⚠️  DISCLAIMER: The PI05OpenPI model is a direct PyTorch port of the OpenPI implementation. \n"
             "   This implementation follows the original OpenPI structure for compatibility. \n"
             "   Original implementation: https://github.com/Physical-Intelligence/openpi"
         )
@@ -876,12 +893,23 @@ class PI05OpenPIPolicy(PreTrainedPolicy):
             raise ValueError("pretrained_name_or_path is required")
 
         # Use provided config if available, otherwise create default config
-        config = kwargs.get("config", cls.config_class())
+        if config is None:
+            config = PreTrainedConfig.from_pretrained(
+                pretrained_name_or_path=pretrained_name_or_path,
+                force_download=force_download,
+                resume_download=resume_download,
+                proxies=proxies,
+                token=token,
+                cache_dir=cache_dir,
+                local_files_only=local_files_only,
+                revision=revision,
+                **kwargs,
+            )
 
         # Initialize model without loading weights
         # Check if dataset_stats were provided in kwargs
-        dataset_stats = kwargs.get("dataset_stats")
+        dataset_stats = kwargs.get("dataset_stats")  # TODO(Adil, Pepijn): Remove this with pipeline
-        model = cls(config=config, dataset_stats=dataset_stats)
+        model = cls(config, dataset_stats=dataset_stats, **kwargs)
 
         # Now manually load and remap the state dict
         try:

src/lerobot/policies/pi0_openpi/modeling_pi0openpi.py

@@ -14,9 +14,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import builtins
 import logging
 import math
 from collections import deque
+from pathlib import Path
 from typing import Literal
 
 import torch
@@ -28,10 +30,11 @@ from transformers.models.gemma import modeling_gemma
 from transformers.models.gemma.modeling_gemma import GemmaForCausalLM
 from transformers.models.paligemma.modeling_paligemma import PaliGemmaForConditionalGeneration
 
+from lerobot.configs.policies import PreTrainedConfig
 from lerobot.constants import ACTION, OBS_STATE
 from lerobot.policies.normalize import Normalize, Unnormalize
 from lerobot.policies.pi0_openpi.configuration_pi0openpi import PI0OpenPIConfig
-from lerobot.policies.pretrained import PreTrainedPolicy
+from lerobot.policies.pretrained import PreTrainedPolicy, T
 
 
 # Helper functions
@@ -882,7 +885,21 @@ class PI0OpenPIPolicy(PreTrainedPolicy):
         self.reset()
 
     @classmethod
-    def from_pretrained(cls, pretrained_name_or_path: str, strict: bool = True, *args, **kwargs):
+    def from_pretrained(
+        cls: builtins.type[T],
+        pretrained_name_or_path: str | Path,
+        *,
+        config: PreTrainedConfig | None = None,
+        force_download: bool = False,
+        resume_download: bool | None = None,
+        proxies: dict | None = None,
+        token: str | bool | None = None,
+        cache_dir: str | Path | None = None,
+        local_files_only: bool = False,
+        revision: str | None = None,
+        strict: bool = True,
+        **kwargs,
+    ) -> T:
         """Override the from_pretrained method to handle key remapping and display important disclaimer."""
         print(
             "⚠️  DISCLAIMER: The PI0OpenPI model is a direct PyTorch port of the OpenPI implementation. \n"
@@ -893,12 +910,23 @@ class PI0OpenPIPolicy(PreTrainedPolicy):
             raise ValueError("pretrained_name_or_path is required")
 
         # Use provided config if available, otherwise create default config
-        config = kwargs.get("config", cls.config_class())
+        if config is None:
+            config = PreTrainedConfig.from_pretrained(
+                pretrained_name_or_path=pretrained_name_or_path,
+                force_download=force_download,
+                resume_download=resume_download,
+                proxies=proxies,
+                token=token,
+                cache_dir=cache_dir,
+                local_files_only=local_files_only,
+                revision=revision,
+                **kwargs,
+            )
 
         # Initialize model without loading weights
         # Check if dataset_stats were provided in kwargs
-        dataset_stats = kwargs.get("dataset_stats")
+        dataset_stats = kwargs.get("dataset_stats")  # TODO(Adil, Pepijn): Remove this with pipeline
-        model = cls(config=config, dataset_stats=dataset_stats)
+        model = cls(config, dataset_stats=dataset_stats, **kwargs)
 
         # Now manually load and remap the state dict
         try: