diff --git a/brax/training/agents/bc/checkpoint.py b/brax/training/agents/bc/checkpoint.py index 2126893b7..536009e66 100644 --- a/brax/training/agents/bc/checkpoint.py +++ b/brax/training/agents/bc/checkpoint.py @@ -14,7 +14,7 @@ """Checkpointing for BC.""" -from typing import Any, Union +from typing import Any, Optional, Union from brax.training import checkpoint from brax.training import types @@ -64,10 +64,11 @@ def _get_bc_network( def load_config( path: Union[str, epath.Path], + config_fname: str = _CONFIG_FNAME ) -> config_dict.ConfigDict: """Loads BC config from checkpoint.""" path = epath.Path(path) - config_path = path / _CONFIG_FNAME + config_path = path / config_fname return checkpoint.load_config(config_path) @@ -75,13 +76,14 @@ def load_policy( path: Union[str, epath.Path], network_factory: types.NetworkFactory[bc_networks.BCNetworks], deterministic: bool = True, + config_fname: Optional[Union[str, epath.Path]] = _CONFIG_FNAME, ): """Loads policy inference function from BC checkpoint. The policy is always deterministic. """ path = epath.Path(path) - config = load_config(path.parent) + config = load_config(path, config_fname=config_fname) params = load(path) bc_network = _get_bc_network(config, network_factory) make_inference_fn = bc_networks.make_inference_fn(bc_network)