Merge branch 'feat/pretrained-revision' into test/gs-gym-integration

src/lerobot/configs/policies.py

@@ -79,6 +79,8 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):  # type: igno
     # Either the repo ID of a model hosted on the Hub or a path to a directory containing weights
     # saved using `Policy.save_pretrained`. If not provided, the policy is initialized from scratch.
     pretrained_path: Path | None = None
+    # Optional Hub revision (commit hash, branch, or tag) to pin the pretrained model version.
+    pretrained_revision: str | None = None
 
     def __post_init__(self) -> None:
         if not self.device or not is_torch_device_available(self.device):

src/lerobot/configs/rewards.py

@@ -56,6 +56,8 @@ class RewardModelConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
     device: str | None = None
 
     pretrained_path: str | None = None
+    # Optional Hub revision (commit hash, branch, or tag) to pin the pretrained reward model version.
+    pretrained_revision: str | None = None
 
     push_to_hub: bool = False
     repo_id: str | None = None

src/lerobot/policies/factory.py

@@ -252,6 +252,7 @@ class ProcessorConfigKwargs(TypedDict, total=False):
 def make_pre_post_processors(
     policy_cfg: PreTrainedConfig,
     pretrained_path: str | None = None,
+    pretrained_revision: str | None = None,
     **kwargs: Unpack[ProcessorConfigKwargs],
 ) -> tuple[
     PolicyProcessorPipeline[dict[str, Any], dict[str, Any]],
@@ -309,6 +310,7 @@ def make_pre_post_processors(
             overrides=kwargs.get("preprocessor_overrides", {}),
             to_transition=batch_to_transition,
             to_output=transition_to_batch,
+            revision=pretrained_revision,
         )
         postprocessor = PolicyProcessorPipeline.from_pretrained(
             pretrained_model_name_or_path=pretrained_path,
@@ -318,6 +320,7 @@ def make_pre_post_processors(
             overrides=kwargs.get("postprocessor_overrides", {}),
             to_transition=policy_action_to_transition,
             to_output=transition_to_policy_action,
+            revision=pretrained_revision,
         )
         _reconnect_relative_absolute_steps(preprocessor, postprocessor)
         return preprocessor, postprocessor
@@ -557,6 +560,7 @@ def make_policy(
         # Load a pretrained policy and override the config if needed (for example, if there are inference-time
         # hyperparameters that we want to vary).
         kwargs["pretrained_name_or_path"] = cfg.pretrained_path
+        kwargs["revision"] = cfg.pretrained_revision
         policy = policy_cls.from_pretrained(**kwargs)
     elif cfg.pretrained_path and cfg.use_peft:
         # Load a pretrained PEFT model on top of the policy. The pretrained path points to the folder/repo

src/lerobot/rewards/factory.py

@@ -124,6 +124,7 @@ def make_reward_model(cfg: RewardModelConfig, **kwargs) -> PreTrainedRewardModel
 
     if cfg.pretrained_path:
         kwargs["pretrained_name_or_path"] = cfg.pretrained_path
+        kwargs["revision"] = cfg.pretrained_revision
         reward_model = reward_cls.from_pretrained(**kwargs)
     else:
         reward_model = reward_cls(**kwargs)

src/lerobot/scripts/lerobot_train.py

@@ -346,6 +346,7 @@ def train(cfg: TrainPipelineConfig, accelerator: "Accelerator | None" = None):
         preprocessor, postprocessor = make_pre_post_processors(
             policy_cfg=cfg.policy,
             pretrained_path=processor_pretrained_path,
+            pretrained_revision=getattr(cfg.policy, "pretrained_revision", None),
             **processor_kwargs,
         )