--policy_path PATH_OR_REPO | Local checkpoint path or HuggingFace repo ID (required) |
--policy_type {act,smolvla,diffusion,tdmpc,vqbet,pi0,pi05,groot} | Policy architecture; must match the checkpoint at --policy_path (required) |
--task TEXT | Natural language task description (required) |
--episode_time_s INT | Safety cap on episode duration in seconds (default: 120). Episodes normally end on operator keypress |
--fps INT | Control loop frame rate (default: 60). Must match the fps the policy was trained on |
--repo_id <user>/<dataset> | Optional dataset repo ID to save rollouts |
--root PATH | Local dataset root (default: $HF_LEROBOT_HOME) |
--push_to_hub true | Push rollout dataset to HuggingFace Hub when done |
--vcodec STR | Video codec recorded for saved rollout datasets (default: per-platform — h264 on Jetson/aarch64, auto elsewhere). Only used with --repo_id. |
--device STR | PyTorch device for policy inference (default: cuda) |
--server_host HOST | Address of a remote inference-server. Default null: a PolicyServer child process is spawned on localhost. When set, --policy_path must be reachable from the server (e.g. a HF Hub repo ID) |
--server_port INT | Policy server port — for the localhost child process or the remote server (default: 8765) |
--actions_per_chunk INT | Number of actions returned per inference call (default: 50); capped by the policy’s max action horizon |
--chunk_size_threshold FLOAT | Trigger a fresh observation when the action queue drops to this fraction of a chunk (default: 0.9) |
--aggregate_fn {temporal_ensemble,weighted_average,latest_only,average,conservative} | Action chunk aggregation strategy (default: temporal_ensemble, ACT Algorithm 2; gripper indices take the newest chunk). The other choices are upstream scalar blends |
--temporal_ensemble_coeff K | Decay coefficient for temporal_ensemble (default: 0.01, ACT paper). wᵢ = exp(-K·i), i=0 oldest chunk; K>0 smoother, K=0 uniform, K<0 more reactive |
--robot_config.cameras DICT | The camera slots (overhead / left_arm / right_arm) to use, with each ZED camera’s serial number, as one inline YAML/JSON value: --robot_config.cameras "{overhead: {serial: 41234567}, left_arm: {serial: 41234568}, right_arm: {serial: 41234569}}". At least one slot must be assigned (assign the cameras the policy was trained on); unassigned slots are dropped. |
↳ stereo (auto-detected) | Stereo ZED X cameras are detected from their serial — on the CLI and the control panel — so you never flag it by hand. Auto-detection applies the head/wrist eye convention: a stereo overhead feeds the policy the overhead_left / overhead_right observation keys, while a stereo wrist (left_arm / right_arm) feeds a single left eye under the plain slot name, exactly like a mono camera. Setting stereo: true by hand skips auto-detection and uses the eyes field instead (default both → X_left / X_right; left / right → a single eye under the plain name X). Either way, configure the cameras to match the dataset the policy was trained on. |
--robot_config.video_backend {auto,gst,sdk} | Camera capture backend. Defaults to sdk here: inference streams no headset video, so the GPU-resident gst encode branch would be wasted. Pass gst (or auto) to opt into the zed-gstreamer pipeline anyway. |
--robot_config.axol_config.<side>.gripper.torque_limit FLOAT | Max torque (Nm) for a gripper in POSITION_FORCE mode (default: 0.5); <side> is left/right |
--robot_config.axol_config.left_stiffness S | Compliance↔stiffness blend for the left arm in [0, 1]. Scalar or 7-element list (one per arm joint, in Joint enum order). 0 = fully compliant; 1 = pre-tuning industrial gains; 0.5 (default) is the geometric mean. Should match the value used at data collection time. Use right_stiffness for the right arm. See AxolConfig.left_stiffness. |
--rerun_ip IP | IP of a Rerun viewer on your local machine for live visualization |
--rerun_port INT | Rerun viewer port (default: 9876); only used when --rerun_ip is set |
--log_level {DEBUG,INFO,WARNING,ERROR} | Default: INFO |
--config_path PATH | Load a whole-config JSON/YAML file; CLI overrides layer on top. |
