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Add support for custom controller config selection #102

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Add support for custom controller config selection #102

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2b592f0
fix torch typo
CTP314 Aug 24, 2025
7e7fb63
add custom controller config
CTP314 Aug 30, 2025
6dd8162
add torch version check
CTP314 Aug 31, 2025
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5 changes: 4 additions & 1 deletion libero/libero/benchmark/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
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):
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5 changes: 4 additions & 1 deletion libero/libero/envs/env_wrapper.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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