Skip to content

generalize BC file loading #622

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
copybara-service merged 2 commits into from
Aug 14, 2025
Merged

generalize BC file loading #622

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
8d6ca4f
generalize BC file loading
Andrew-Luo1 Jun 27, 2025
aeda2a4
make checkpoint API backward compatable
Andrew-Luo1 Jul 14, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 5 additions & 3 deletions brax/training/agents/bc/checkpoint.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -64,24 +64,26 @@ 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
Copy link

@varunagrawal varunagrawal Jul 1, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I think a better approach would be to allow the the parameter config_fname with the default _CONFIG_FNAME. This would make the code backwards compatible.

Copy link
Contributor Author

@Andrew-Luo1 Andrew-Luo1 Jul 14, 2025 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Thanks I see how this could break stuff. Updated.

return checkpoint.load_config(config_path)


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)
Expand Down