Upgrade from 0.1.x#

PolicyRuntime and InferenceModel.load() have been removed in Runtime v0.2.0. Update code that uses them and adjust YAML configurations using the replacements below.

0.1.x	0.2.0
`PolicyRuntime`	`RobotRuntime` with an explicit `PolicySource`
Policy model and execution settings directly on the runtime	Settings on `PolicySource` (under `action_source.init_args` in YAML)
`InferenceModel.load(...)`	`InferenceModel(export_dir=...)` for local exports, or `InferenceModel.from_pretrained(...)` for the Hub
Older OpenVINO releases	OpenVINO >= 2026.4.0 and OpenVINO Tokenizers >= 2026.4.0.0

The older configuration helpers FromConfig and instantiate_obj still work but emit deprecation warnings and will be removed in a future release. Use Config or jsonargparse in new code.

The runtime configuration example is a good starting point for migrating a 0.1.x configuration.