From 2b592f09dfeada00967d9747a999497936852d31 Mon Sep 17 00:00:00 2001 From: chenhao lu Date: Sun, 24 Aug 2025 23:16:07 +0800 Subject: [PATCH 1/3] fix torch typo --- libero/libero/benchmark/__init__.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libero/libero/benchmark/__init__.py b/libero/libero/benchmark/__init__.py index 2b833d09..5734edbe 100644 --- a/libero/libero/benchmark/__init__.py +++ b/libero/libero/benchmark/__init__.py @@ -161,7 +161,7 @@ def get_task_init_states(self, i): self.tasks[i].problem_folder, self.tasks[i].init_states_file, ) - init_states = torch.load(init_states_path) + init_states = torch.load(init_states_path, weights_only=False) return init_states def set_task_embs(self, task_embs): From 7e7fb63386eeede7bbc826a741ca00b49601a7ec Mon Sep 17 00:00:00 2001 From: Chenhao Lu Date: Sat, 30 Aug 2025 15:44:28 +0800 Subject: [PATCH 2/3] add custom controller config --- libero/libero/envs/env_wrapper.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/libero/libero/envs/env_wrapper.py b/libero/libero/envs/env_wrapper.py index b5a732b0..99447e2a 100644 --- a/libero/libero/envs/env_wrapper.py +++ b/libero/libero/envs/env_wrapper.py @@ -38,13 +38,16 @@ def __init__( camera_segmentations=None, renderer="mujoco", renderer_config=None, + controller_configs=None, **kwargs, ): assert os.path.exists( bddl_file_name ), f"[error] {bddl_file_name} does not exist!" - controller_configs = suite.load_controller_config(default_controller=controller) + if controller_configs is None: + # Load default controller configs from robosuite + controller_configs = suite.load_controller_config(default_controller=controller) problem_info = BDDLUtils.get_problem_info(bddl_file_name) # Check if we're using a multi-armed environment and use env_configuration argument if so From 6dd816285d97eaee65bc77f21520f1bab74438e5 Mon Sep 17 00:00:00 2001 From: Chenhao Lu Date: Sun, 31 Aug 2025 15:08:42 +0800 Subject: [PATCH 3/3] add torch version check --- libero/libero/benchmark/__init__.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/libero/libero/benchmark/__init__.py b/libero/libero/benchmark/__init__.py index 5734edbe..69b29ed4 100644 --- a/libero/libero/benchmark/__init__.py +++ b/libero/libero/benchmark/__init__.py @@ -161,7 +161,10 @@ def get_task_init_states(self, i): self.tasks[i].problem_folder, self.tasks[i].init_states_file, ) - init_states = torch.load(init_states_path, weights_only=False) + if torch.__version__ >= "2.2.0": + init_states = torch.load(init_states_path, weights_only=False) + else: + init_states = torch.load(init_states_path) return init_states def set_task_embs(self, task_embs):