From 40d417ef608ffb77301b00ff565f8ad68163cf40 Mon Sep 17 00:00:00 2001 From: Alexander Soare Date: Mon, 15 Apr 2024 09:59:18 +0100 Subject: [PATCH] Make sure to make remove all traces of omegaconf from policy config --- lerobot/common/policies/factory.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/lerobot/common/policies/factory.py b/lerobot/common/policies/factory.py index d9ba3f07..ed8ba7cf 100644 --- a/lerobot/common/policies/factory.py +++ b/lerobot/common/policies/factory.py @@ -1,5 +1,7 @@ import inspect +from omegaconf import OmegaConf + from lerobot.common.utils import get_safe_torch_device @@ -33,7 +35,13 @@ def make_policy(cfg): assert set(cfg.policy).issuperset( expected_kwargs ), f"Hydra config is missing arguments: {set(cfg.policy).difference(expected_kwargs)}" - policy_cfg = ActConfig(**{k: v for k, v in cfg.policy.items() if k in expected_kwargs}) + policy_cfg = ActConfig( + **{ + k: v + for k, v in OmegaConf.to_container(cfg.policy, resolve=True).items() + if k in expected_kwargs + } + ) policy = ActPolicy(policy_cfg) policy.to(get_safe_torch_device(cfg.device)) else: