rename pi0/pi05 files

src/lerobot/policies/__init__.py

@@ -14,8 +14,8 @@
 
 from .act.configuration_act import ACTConfig as ACTConfig
 from .diffusion.configuration_diffusion import DiffusionConfig as DiffusionConfig
-from .pi0.configuration_pi0openpi import PI0OpenPIConfig as PI0OpenPIConfig
+from .pi0.configuration_pi0 import PI0Config as PI0Config
-from .pi05.configuration_pi05openpi import PI05OpenPIConfig as PI05OpenPIConfig
+from .pi05.configuration_pi05 import PI05Config as PI05Config
 from .smolvla.configuration_smolvla import SmolVLAConfig as SmolVLAConfig
 from .smolvla.processor_smolvla import SmolVLANewLineProcessor
 from .tdmpc.configuration_tdmpc import TDMPCConfig as TDMPCConfig
@@ -24,8 +24,8 @@ from .vqbet.configuration_vqbet import VQBeTConfig as VQBeTConfig
 __all__ = [
     "ACTConfig",
     "DiffusionConfig",
-    "PI0OpenPIConfig",
+    "PI0Config",
-    "PI05OpenPIConfig",
+    "PI05Config",
     "SmolVLAConfig",
     "TDMPCConfig",
     "VQBeTConfig",

src/lerobot/policies/factory.py

@@ -31,9 +31,9 @@ from lerobot.envs.configs import EnvConfig
 from lerobot.envs.utils import env_to_policy_features
 from lerobot.policies.act.configuration_act import ACTConfig
 from lerobot.policies.diffusion.configuration_diffusion import DiffusionConfig
-from lerobot.policies.pi0.configuration_pi0openpi import PI0OpenPIConfig
+from lerobot.policies.pi0.configuration_pi0 import PI0Config
 from lerobot.policies.pi0fast.configuration_pi0fast import PI0FASTConfig
-from lerobot.policies.pi05.configuration_pi05openpi import PI05OpenPIConfig
+from lerobot.policies.pi05.configuration_pi05 import PI05Config
 from lerobot.policies.pretrained import PreTrainedPolicy
 from lerobot.policies.sac.configuration_sac import SACConfig
 from lerobot.policies.sac.reward_model.configuration_classifier import RewardClassifierConfig
@@ -87,13 +87,13 @@ def get_policy_class(name: str) -> type[PreTrainedPolicy]:
 
         return PI0FASTPolicy
     elif name == "pi0":
-        from lerobot.policies.pi0.modeling_pi0openpi import PI0OpenPIPolicy
+        from lerobot.policies.pi0.modeling_pi0openpi import PI0Policy
 
-        return PI0OpenPIPolicy
+        return PI0Policy
     elif name == "pi05":
-        from lerobot.policies.pi05.modeling_pi05openpi import PI05OpenPIPolicy
+        from lerobot.policies.pi05.modeling_pi05openpi import PI05Policy
 
-        return PI05OpenPIPolicy
+        return PI05Policy
     elif name == "sac":
         from lerobot.policies.sac.modeling_sac import SACPolicy
 
@@ -140,9 +140,9 @@ def make_policy_config(policy_type: str, **kwargs) -> PreTrainedConfig:
     elif policy_type == "pi0fast":
         return PI0FASTConfig(**kwargs)
     elif policy_type == "pi0":
-        return PI0OpenPIConfig(**kwargs)
+        return PI0Config(**kwargs)
     elif policy_type == "pi05":
-        return PI05OpenPIConfig(**kwargs)
+        return PI05Config(**kwargs)
     elif policy_type == "sac":
         return SACConfig(**kwargs)
     elif policy_type == "smolvla":

src/lerobot/policies/pi0/__init__.py

@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .configuration_pi0openpi import PI0OpenPIConfig
+from .configuration_pi0 import PI0Config
-from .modeling_pi0openpi import PI0OpenPIPolicy
+from .modeling_pi0 import PI0Policy
 
-__all__ = ["PI0OpenPIConfig", "PI0OpenPIPolicy"]
+__all__ = ["PI0Config", "PI0Policy"]

src/lerobot/policies/pi05/__init__.py

@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from .configuration_pi05openpi import PI05OpenPIConfig
+from .configuration_pi05 import PI05Config
-from .modeling_pi05openpi import PI05OpenPIPolicy
+from .modeling_pi05 import PI05Policy
 
-__all__ = ["PI05OpenPIConfig", "PI05OpenPIPolicy"]
+__all__ = ["PI05Config", "PI05Policy"]

tests/policies/pi0_pi05/test_pi0_pi05_hub.py

@@ -19,7 +19,7 @@ pytestmark = pytest.mark.skipif(
 )
 
 from lerobot.policies.pi0 import PI0Policy  # noqa: E402
-from lerobot.policies.pi05.modeling_pi05openpi import PI05Policy  # noqa: E402
+from lerobot.policies.pi05.modeling_pi05 import PI05Policy  # noqa: E402
 
 
 def create_dummy_stats(config):