Run Policy Config Parameters

Every setting for axol run-policy. 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 run-policy --policy_path myorg/pick-act --policy_type act --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 in Data Collection. 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 (reachable from the inference server when remote).
`--policy_type`	required	`act`, `smolvla`, `diffusion`, `tdmpc`, `vqbet`, `pi0`, `pi05`, or `groot`.
`--task`	required	Task description sent to the policy and stored with recorded frames.
`--device`	`cuda`	`cuda`, `cpu`, or `mps`.
`--episode_time_s`	`120`	Maximum episode length (s).
`--fps`	`60`	Control rate. Must match the training fps unless `--allow_fps_mismatch true`.
`--allow_fps_mismatch`	`false`	Start even if `fps` differs from the training fps. Experiments only.
`--server_host`	`null` (local)	Address of a remote `inference-server`. `null` starts one locally.
`--server_port`	`8765`	Inference server port.

Action chunking

How the action chunks returned by the policy are stitched into smooth motion.

Flag	Default	Description
`--actions_per_chunk`	`50`	Actions requested from the policy per call.
`--chunk_size_threshold`	`0.9`	Request the next chunk when the action queue drops below this fraction.
`--aggregate_fn`	`temporal_ensemble`	How overlapping chunks are combined: `temporal_ensemble`, `weighted_average`, `latest_only`, `average`, or `conservative`.
`--temporal_ensemble_coeff`	`0.01`	Weight decay for `temporal_ensemble`.
`--ensemble_blend_s`	`0.2`	Fade (s) at the end of each chunk so the motion doesn’t step when a chunk expires. `0` disables.
`--align_fade_s`	`1.0`	Fade (s) over which each new chunk’s offset from the current motion is blended in. Removes inference-latency oscillation. `0` disables.
`--exec_max_vel`	`6.283`	Joint speed limit (rad/s) on commands sent to the arms. `0` disables.
`--exec_max_accel`	`21.99`	Joint acceleration limit (rad/s²). `0` disables.

Recording

Optional — the rollout is recorded to a dataset when --repo_id is set.

Flag	Default	Description
`--repo_id`	`null`	Dataset id, `<user>/<dataset>`. Set it to record the rollout.
`--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.

Contact safety

A contact stop trips when a joint’s torque is higher than the gravity model expects — the arm hit something. The arms then go limp instead of pushing through.

Flag	Default	Description
`--reset_torque_threshold`	`4.0`	Contact stop during return-to-rest (Nm). `0` disables.
`--policy_torque_threshold`	`0` (off)	Contact stop while the policy drives (Nm). A trip aborts the episode. The control panel arms it at `16`.
`--reset_gravity_comp_kd`	`0.25`	Damping (Nm·s/rad) of the limp hold.

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`

Get Started

Operations

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Advanced

Run Policy Config Parameters

Policy

Action chunking

Recording

Contact safety

Robot

Cameras

Arm gains

​Policy

​Action chunking

​Recording

​Contact safety

​Robot

​Cameras

​Arm gains

Policy

Action chunking

Recording

Contact safety

Robot

Cameras

Arm gains