DAgger Collection Config Parameters

Every setting for axol collect-dagger. Add any flag below to the command, or set it once in the control panel — see Command configuration for config files and syntax details.

axol collect-dagger --policy_path myorg/pick-act --policy_type act \
  --repo_id myorg/pick-dagger --task "pick up the cup" \
  --robot_config.axol_config.left_stiffness 0.8

Stiffness, gripper torque, observe_torques, observe_cartesian, fps, and the camera set must be the same as when the policy’s data was collected. A policy only works with the dynamics it was trained on.

Policy

Flag	Default	Description
`--policy_path`	required	Policy checkpoint — a HuggingFace Hub repo id or local path.
`--policy_type`	required	`act`, `smolvla`, `diffusion`, `tdmpc`, `vqbet`, `pi0`, `pi05`, or `groot`.
`--device`	`cuda`	`cuda`, `cpu`, or `mps`.
`--episode_time_s`	`600`	Maximum episode length (s), including interventions.
`--policy_max_vel`	`6.283`	Speed limit (rad/s) on the policy’s actions. `0` disables.
`--policy_max_accel`	`21.99`	Acceleration limit (rad/s²) on the policy’s actions.
`--subtasks`	`null`	Ordered sub-instructions, e.g. `["reach","grasp","lift"]`. Typing `1..N` switches the instruction sent to the policy mid-episode.

Recording

Flag	Default	Description
`--repo_id`	required	Dataset id, `<user>/<dataset>`.
`--task`	required	Task description stored with every frame and sent to the policy.
`--fps`	`60`	Recording rate. Camera frames are captured at this rate.
`--teleop_hz`	`120`	Motor command rate (Hz) while you intervene, independent of `fps`.
`--dataset_resolution`	`SVGA`	Resolution the recorded video is downscaled to, and the resolution the policy sees: `SVGA`, `HD1080`, or `HD1200`.
`--vcodec`	per platform	Dataset video codec: `h264` on Jetson, `auto` elsewhere.
`--root`	`null`	Local dataset directory. Default is the LeRobot cache, `~/.cache/huggingface/lerobot`.
`--push_to_hub`	`false`	Upload the dataset to the HuggingFace Hub when done.
`--rerun_ip`	`null` (off)	Stream live visualisation to a Rerun viewer at this address.
`--rerun_port`	`9876`	Rerun viewer port.
`--log_level`	`INFO`	`DEBUG`, `INFO`, `WARNING`, or `ERROR`.
`--config_path`	—	Load a JSON/YAML config file. Flags override it.

Robot

CAN buses, cameras, and what goes into observations.

Flag	Default	Description
	`can_alm_axol_l`	CAN interface for the left arm.
	`can_alm_axol_r`	CAN interface for the right arm.
	3 unassigned slots	Camera slots `overhead`, `left_arm`, `right_arm` — fields below. Pass inline: `--robot_config.cameras "{overhead: {serial: 41234567}}"`. Slots left at serial `0` are dropped.
	`auto` (`sdk` on run-policy)	Camera backend: `gst` (GPU pipeline, low latency), `sdk` (ZED SDK), or `auto` (prefers `gst`).
	`false`	Include joint torques in observations. Must match between collection and inference.
	`false`	Use end-effector poses instead of joint angles for observations and actions. Must match between collection and inference.
	`null`	LeRobot bookkeeping, unused by Axol.
	`null`	LeRobot bookkeeping, unused by Axol.

Cameras

One ZED camera per slot: overhead, left_arm, right_arm. Flags are shown for overhead; swap in the other slot names. Stereo ZED X cameras are detected from their serial. The control panel’s Cameras tab edits all of this visually.

Flag	Default	Description
	`0` (unassigned)	Serial number of the ZED camera. `0` leaves the slot unused.
	`60`	Capture rate. Raised automatically if the recording `fps` is higher.
	`960`	Capture width. With `height`, must be a ZED resolution: `SVGA` 960×600, `HD1080` 1920×1080, `HD1200` 1920×1200.
	`600`	Capture height.
	`RGB`	`RGB` or `BGR`.
	`1`	Seconds of frames discarded on connect.
	`false` (auto)	Force stereo on or off instead of detecting it from the serial.
	`both`	Which eye(s) to record: `both` (`overhead_left` + `overhead_right`), `left`, or `right`.
	`null`	Which eye(s) to stream to the headset. `null` follows `eyes`. Not used by run-policy.
	`true`	Write this camera to the dataset.
	`true`	Show this camera in the headset. Not used by run-policy.

Arm gains

Arm stiffness, gripper limits, and per-joint gains.

Flag	Default	Description
	`1.0`	How stiff the left arm is, from `0` (soft, hand-guidable) to `1` (the tuned gains). Lower values only add compliance — the arm tracks a little less tightly but yields more to obstacles. One number applies to every joint; a 7-element list sets each joint in the order `shoulder_1, shoulder_2, shoulder_3, elbow, wrist_1, wrist_2, wrist_3`.
	`1.0`	Same, for the right arm.
	`true`	Set `false` on the gripperless model. The gripper motors are never enabled and datasets record 7 channels per arm instead of 8.
	`0.5`	Largest joint move (rad) allowed between two consecutive commands. Bigger moves are dropped with a warning. `inf` disables.
	`0.5`	Grip force — peak gripper torque (Nm).
	`10.0`	Maximum gripper speed (rad/s).
	per joint	Position stiffness of one joint, in `[0, 500]`. This is the stiffness-`1` value.
	per joint	Velocity damping in the motor firmware, in `[0, 5]`.
	per joint	Extra damping (Nm·s/rad) applied by the host, for the slow shoulder resonance the firmware can’t damp. Scaled down automatically in poses where the joint carries less inertia. `0` on joints whose firmware damping is enough.
	`null`	Centre frequency (Hz) of the band the host damping acts in. `null` tracks the arm’s pose automatically.
	`null`	Width of that band (bandwidth = centre ÷ q). `null` uses `0.8`.
	per joint	Effective inertia (kg·m²) used for acceleration feed-forward.
	per joint	Mass (kg) of the link, used for gravity compensation. Tune if an arm sags or pushes back in gravity comp.
	per joint	Centre of mass `[x, y, z]` (m) of the link.
	per motor	Coulomb friction (Nm). Measured per motor with `tune.friction`.
	per motor	Friction curve sharpness.
	per motor	Viscous friction (Nm·s/rad).
	per motor	Constant torque offset (Nm).

Per-arm and per-joint flags are shown for left / elbow. Swap in right, or any joint: shoulder_1, shoulder_2, shoulder_3, elbow, wrist_1, wrist_2, wrist_3.

A robot calibrated with tune.pid --save, tune.friction --save, or tune.gravity --save uses its own measured values (from ~/.almond/calibration.json) instead of the defaults below. Flags you pass still override both.

Per-joint defaults

Both arms share these. kp/kd are the stiffness-1 values (the default); the soft columns are what stiffness 0 blends toward. shoulder_1 also sets kd_host_q to 3.0; every other joint leaves it null.

Joint	`kp`	`kd`	`kd_host`	`j_eff`	`mass` (kg)	soft `kp`	soft `kd`
`shoulder_1`	250	3.5	40	1.27	1.80	40	1.4
`shoulder_2`	250	3.5	35	1.1	1.00	50	1.57
`shoulder_3`	180	5.0	0	0.25	3.75	45	1.0
`elbow`	130	5.0	0	0.6	0.25	40	2.22
`wrist_1`	180	1.7	0	0	0.25	30	0.69
`wrist_2`	130	3.5	0	0	0.65	25	1.5
`wrist_3`	130	2.0	0	0	0.75	25	0.9

Per-motor friction defaults

Fallback values of fc, k, fv, fo for each motor, measured on the reference robot with tune.friction.

Joint	Left arm	Right arm
`shoulder_1`	`0.9091, 799.59, 0, 0.37`	`1.2972, 742.11, 0, −0.1557`
`shoulder_2`	`1.1378, 756.76, 0, −0.3969`	`1.3950, 768.06, 0, 0.2082`
`shoulder_3`	`0.3599, 835.51, 0, −0.0133`	`0.4377, 107.94, 0.0853, −0.0147`
`elbow`	`0.6023, 855.95, 0, −0.072`	`0.6066, 784.78, 0, 0.049`
`wrist_1`	`0.3765, 88.91, 0.0298, −0.0115`	`0.5245, 98.58, 0.3062, −0.0097`
`wrist_2`	`0.1521, 780.31, 0, −0.0152`	`0.1092, 899.67, 0, 0.0021`
`wrist_3`	`0.0714, 927.26, 0, 0.0042`	`0.1172, 204.46, 0, 0.0042`

Teleop session

How VR controller motion becomes arm motion while you intervene.

Flag	Default	Description
	`[−0.157, 0, 0, 0.314, 0, 0, −0.157]`	Left arm rest pose (rad, 7 joints). The arms start here and return here on reset. Edit it visually in the control panel’s Rest pose tab.
	`[0.157, 0, 0, −0.314, 0, 0, 0.157]`	Right arm rest pose.
	`120`	Motor command rate (Hz). Data collection sets this from `teleop_hz`.
	`120`	How often VR poses are sent to the IK solver (Hz). The control loop interpolates between solutions.
	`1.0`	Scales hand movement. `2` moves the arm twice as far as your hand. Ignored in `absolute_mode`.
	`1.0`	Scales hand rotation the same way. Ignored in `absolute_mode`.
	`false`	`false`: click both grips to engage, then click a grip to freeze or unfreeze that arm. `true`: each arm tracks only while its grip is held.
	`0.5`	Seconds without a VR frame before tracking disengages and the arms hold position. `0` disables.
	`null`	Record every stage of the teleop pipeline to `~/.almond/recordings/<name>_*.npz` for `motion.build` and `diag.offline`. A bare name like `rec1` goes in that folder; a path is used as-is.
	`0.628`	Speed (rad/s) of the return-to-rest move.
	`1.5`	Minimum duration (s) of a return-to-rest move.
	`50.0`	IK weight toward the rest pose when planning a return.
	`100.0`	IK weight against joint limits when planning a return.
	`0.025`	Minimum self-collision clearance (m) when planning a return.
	`100.0`	IK weight on self-collision when planning a return.
	`10`	IK iterations per return waypoint.
	`4.0`	Contact stop during return-to-rest (Nm of unexpected torque). If the arm hits something, the move stops and the arms go limp; press reset to retry. `0` disables. Hardware only.
	`0` (off)	Contact stop while tracking. Same behaviour; a running episode is discarded. The control panel arms it at `16`. Hardware only.
	`0.25`	Damping (Nm·s/rad) of the limp hold after a contact stop.
	`0.628`	Joint speed cap (rad/s) right after engaging, so the first move is gentle.
	`1.0`	Seconds to ramp from `engage_max_vel` up to `teleop_max_vel`.
	`6.283`	Maximum joint speed (rad/s) while tracking.
	`21.99`	Maximum joint acceleration (rad/s²) while tracking.
	`0.3`	Smoothing on the IK output, `(0, 1]`. `1` is no smoothing; lower is smoother but adds lag. See Latency tuning.
	`2.5`	Low-pass cutoff (Hz) on raw controller poses before IK. Lower rejects more hand tremor but adds lag.
	`false`	Mantis mapping: track controller poses 1:1 in a fixed world frame instead of relative to where you engaged. Forced `true` by `--mantis`.
	`null`	In `absolute_mode`, fix the robot base this many metres above the VR floor instead of inferring it. Keeps datasets consistent across operators.
	`null`	Mantis data collection. Tracker → gripper transform `[x, y, z, qx, qy, qz, qw]` for the left rig. Normally read from the saved calibration; set to override. See `tracker`.
	`null`	Mantis data collection. Same for the right rig.
	`null`	Mantis data collection, Quest. Which saved calibration to use, e.g. `quest:oculus-touch-v3:grip`. Set from Mantis settings in the panel.
	`null`	Mantis data collection, Quest. Expected controller profile. Filled from `tracker_key`.
	`null`	Mantis data collection, Quest. Expected pose datum, `grip` or `target-ray`. Filled from `tracker_key`.
	`null`	Mantis data collection. Whether the pose source shares the viewer headset’s floor. `null` means `true` for Quest, `false` for Lighthouse/Ultimate.

Mantis mode (--mantis) forces absolute_mode: true, hold_to_engage: false, ik_alpha: 1.0, pose_cutoff: 5.0, and removes the speed and acceleration limits. Your values for these keys are ignored in Mantis mode.

Kinematics

The IK solver that turns hand targets into joint angles. A higher weight means the solver cares more about that term.

Flag	Default	Description
	`50.0`	Weight on end-effector position error.
	`10.0`	Weight on end-effector orientation error.
	`0` (off)	Weight on the headset’s elbow-position hint. Off by default because the hint is unreliable on hardware.
	`15.0`	Damping toward the current pose. Higher is steadier, lower tracks faster.
	`5.0`	Pull toward the home posture, preventing slow drift.
	`0.05`	Keeps the arm away from singular poses. Forced `0` in Mantis mode.
	`75.0`	Penalty on joint-limit violations.
	`0.025`	Distance (m) at which self-collision avoidance starts. Keep below the arm–torso clearance of normal poses.
	`150.0`	Weight on self-collision avoidance.
	`8`	Solver iterations per IK call.
	`1e-4`	Convergence tolerance. Keep small.
	`1e-2`	Initial Levenberg–Marquardt damping.
	`10.0`	Damping multiplier after a rejected solver step.
	`0.0346`	Largest joint change (rad) per IK call. Raise for faster tracking, lower for gentler motion.
	`0.82`	Maximum shoulder-to-target distance (m). Targets beyond it are pulled in.
	`0.78`	Distance (m) at which the reach limit starts to act.
	`0.015`	Below this manipulability, extra damping kicks in (near full extension).
	`60.0`	Extra damping at zero manipulability. `0` disables.
	`0.12`	Distance (rad) from a joint limit inside which the joint is damped while moving toward it.
	`0.15`	Height (m) above the shoulder over which the elbow hint fades out.

Mantis mode replaces any of these still at their default with pos_weight 200, ori_weight 120, manipulability_weight 0, self_collision_margin 0.02, max_joint_delta 0.05, max_iterations 12. A value you set explicitly still wins.

VR server

The connection the headset streams poses over.

Flag	Default	Description
	`8000`	Port the headset connects to. Quest-over-USB uses the same port.
	`null`	TLS certificate. `null` uses the auto-generated one in `~/.almond/vr/certs/`.
	`null`	TLS private key. `null` as above.
	`true`	Smooth out jittery or batched pose arrivals. `false` uses the latest raw frame.
	`0`	Minimum playout delay (s).
	`0.15`	Maximum playout delay (s) spent absorbing network jitter.
	`0.12`	Smoothing window (s). Adds about half of it as latency. `0` disables. See Latency tuning.
	`4.0`	Glitch-rejection threshold. Lower is more aggressive; `≤ 0` disables.
	`null`	Which pose source may drive: `webxr` (Quest), `tracker` (Lighthouse/Ultimate), or `null` for whichever connects first. Set automatically for Mantis.
	`null`	Mantis data collection. Exact pose-source ID accepted. Set automatically.

Jelly

The optional powered cart, driven from the headset thumbsticks between takes. Jelly motion is never recorded.

Flag	Default	Description
	`false`	This robot is on a Jelly. Thumbsticks drive the base, stick clicks run the lift.
	`can_alm_axol_b`	CAN interface of the wheel motors. `null` means lift only.
	`20.0`	Peak wheel speed (rad/s) at full stick.
	`1.0`	Rotation speed relative to driving speed, `[0, 1]`.
	`0.5`	Acceleration ramp. The default takes 2 s from rest to full speed.
	`15.0`	Stick directions within this many degrees of straight or sideways snap to exact. `0` disables.
	`0.15`	Thumbstick deadzone, as a fraction of full deflection.
	`false`	Use the board IMU to hold a straight heading.
	`2.0`	Heading-hold strength. `0` disables.
	`0.3`	Maximum heading-hold correction.
	`false`	Log heading-hold data at 10 Hz, for diagnosing drift.
	`60.0`	Stiffness (Nm/rad) holding the wheels when parked. `0` leaves them idle.
	`1.5`	Damping (Nm·s/rad) of the parked hold.
	`50.0`	Wheel command rate (Hz).
	`0.2`	Seconds without a stick command before Jelly stops.
	`200.0`	Motor-side loss-of-comms timeout (ms). Stops the wheels even if the host hangs.
	`true`	The lift is present.
	`can_alm_axol_c`	CAN interface of the lift controller.
	`650`	Lift speed (encoder counts/s).

Teleoperator

Flag	Default	Description
`--teleop_config.has_gripper`	`true`	Set automatically from `--robot_config.axol_config.has_gripper`.
`--teleop_config.id`	`null`	LeRobot bookkeeping, unused by Axol.
`--teleop_config.calibration_dir`	`null`	LeRobot bookkeeping, unused by Axol.

Get Started

Operations

Mantis

Remote Teleop

Web Interfaces

Advanced

DAgger Collection Config Parameters

Policy

Recording

Robot

Cameras

Arm gains

Teleop session

Kinematics

VR server

Jelly

Teleoperator

​Policy

​Recording

​Robot

​Cameras

​Arm gains

​Teleop session

​Kinematics

​VR server

​Jelly

​Teleoperator

Policy

Recording

Robot

Cameras

Arm gains

Teleop session

Kinematics

VR server

Jelly

Teleoperator