fix override self.pretrained_path = None overwrite

src/lerobot/configs/policies.py

@@ -72,9 +72,11 @@ class PreTrainedConfig(draccus.ChoiceRegistry, HubMixin, abc.ABC):
     tags: list[str] | None = None
     # Add tags to your policy on the hub.
     license: str | None = None
+    # 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: str | None = None
 
     def __post_init__(self):
-        self.pretrained_path = None
         if not self.device or not is_torch_device_available(self.device):
             auto_device = auto_select_torch_device()
             logging.warning(f"Device '{self.device}' is not available. Switching to '{auto_device}'.")

src/lerobot/policies/pi05_openpi/configuration_pi05openpi.py

@@ -66,9 +66,6 @@ class PI05OpenPIConfig(PreTrainedConfig):
     compile_mode: str = "max-autotune"  # Torch compile mode
     device: str | None = None  # Device to use for the model (None = auto-detect)
 
-    # Pretrained model loading
-    pretrained_path: str | None = "pepijn223/pi0_base_fp32"  # Path or repo_id to load pretrained weights from
-
     # Optimizer settings: see openpi `AdamW` and
     optimizer_lr: float = 2.5e-5  # see openpi `CosineDecaySchedule: peak_lr`
     optimizer_betas: tuple[float, float] = (0.9, 0.95)

src/lerobot/policies/pi0_openpi/configuration_pi0openpi.py

@@ -63,9 +63,6 @@ class PI0OpenPIConfig(PreTrainedConfig):
     compile_mode: str = "max-autotune"  # Torch compile mode
     device: str | None = None  # Device to use for the model (None = auto-detect)
 
-    # Pretrained model loading
-    pretrained_path: str | None = "pepijn223/pi0_base_fp32"  # Path or repo_id to load pretrained weights from
-
     # Optimizer settings: see openpi `AdamW` and
     optimizer_lr: float = 2.5e-5  # see openpi `CosineDecaySchedule: peak_lr`
     optimizer_betas: tuple[float, float] = (0.9, 0.95)