lerobot/pr_4380/en/api/configs.html

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		<link href="/docs/lerobot/pr_4380/en/_app/immutable/assets/0.tn0RQdqM.css" rel="modulepreload"> <!--[--><!--[0--><!--[--><!--[0--><!--[--><p></p> <div class="items-center shrink-0 min-w-[100px] max-sm:min-w-[50px] justify-end ml-auto flex" style="float: right; margin-left: 10px; display: inline-flex; position: relative; z-index: 10;"><div class="inline-flex rounded-md max-sm:rounded-sm"><button class="inline-flex items-center gap-1 h-7 max-sm:h-7 px-2 max-sm:px-1.5 text-sm font-medium text-gray-800 border border-r-0 rounded-l-md max-sm:rounded-l-sm border-gray-200 bg-white hover:shadow-inner dark:border-gray-850 dark:bg-gray-950 dark:text-gray-200 dark:hover:bg-gray-800" aria-live="polite"><span class="inline-flex items-center justify-center rounded-md p-0.5 max-sm:p-0 hover:text-gray-800 dark:hover:text-gray-200"><svg class="sm:size-3.5 size-3" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M28,10V28H10V10H28m0-2H10a2,2,0,0,0-2,2V28a2,2,0,0,0,2,2H28a2,2,0,0,0,2-2V10a2,2,0,0,0-2-2Z" transform="translate(0)"></path><path d="M4,18H2V4A2,2,0,0,1,4,2H18V4H4Z" transform="translate(0)"></path><rect fill="none" width="32" height="32"></rect></svg><!----></span> <span>Copy page</span></button> <button class="inline-flex items-center justify-center w-6 max-sm:w-5 h-7 max-sm:h-7 disabled:pointer-events-none text-sm text-gray-500 hover:text-gray-700 dark:hover:text-white rounded-r-md max-sm:rounded-r-sm border border-l transition border-gray-200 bg-white hover:shadow-inner dark:border-gray-850 dark:bg-gray-950 dark:text-gray-200 dark:hover:bg-gray-800" aria-haspopup="menu" aria-expanded="false" aria-label="Open copy menu"><svg class="transition-transform text-gray-400 overflow-visible sm:size-3.5 size-3 rotate-0" width="1em" height="1em" viewBox="0 0 12 7" fill="none" xmlns="http://www.w3.org/2000/svg"><path d="M1 1L6 6L11 1" stroke="currentColor"></path></svg><!----></button></div> <!--[-1--><!--]--></div><!----> <!--[0--><h1 class="relative group"><a id="configuration" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#configuration"><span><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span>Configuration</span></h1><!--]--><!----> <p>LeRobot configuration is plain dataclasses parsed by <a href="https://github.com/dlwh/draccus" rel="nofollow">draccus</a>, so every
field is settable from the CLI. <code>TrainPipelineConfig</code> is the top-level object for <code>lerobot-train</code>.</p> <p>Polymorphic configs (policies, robots, environments) use <code>draccus.ChoiceRegistry</code>: a subclass registers
itself with <code>@register_subclass("name")</code> and is then selectable by that name on the command line.</p> <!--[1--><h2 class="relative group"><a id="lerobot.configs.train.TrainPipelineConfig" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.configs.train.TrainPipelineConfig"><span><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span>TrainPipelineConfig</span></h2><!--]--><!----> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.configs.train.TrainPipelineConfig"><!----><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">lerobot.configs.train.</span><span class="font-semibold">TrainPipelineConfig</span></span></h3><!----> <a id="lerobot.configs.train.TrainPipelineConfig" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.configs.train.TrainPipelineConfig"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/configs/train.py#L110" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">dataset<span class="opacity-60">: DatasetConfig</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">env<span class="opacity-60">: lerobot.envs.configs.EnvConfig | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">policy<span class="opacity-60">: lerobot.configs.policies.PreTrainedConfig | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">reward_model<span class="opacity-60">: lerobot.configs.rewards.RewardModelConfig | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">output_dir<span class="opacity-60">: pathlib.Path | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">job_name<span class="opacity-60">: str | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">resume<span class="opacity-60">: bool = False</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">seed<span class="opacity-60">: int | None = 1000</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">cudnn_deterministic<span class="opacity-60">: bool = False</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">num_workers<span class="opacity-60">: int = 4</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">batch_size<span class="opacity-60">: int = 8</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">prefetch_factor<span class="opacity-60">: int = 4</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">persistent_workers<span class="opacity-60">: bool = True</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">dataloader_multiprocessing_context<span class="opacity-60">: str | None = 'spawn'</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">steps<span class="opacity-60">: int = 100000</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">env_eval_freq<span class="opacity-60">: int = 20000</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">log_freq<span class="opacity-60">: int = 200</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">eval_steps<span class="opacity-60">: int = 0</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">max_eval_samples<span class="opacity-60">: int = 0</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">tolerance_s<span class="opacity-60">: float = 0.0001</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">save_checkpoint<span class="opacity-60">: bool = True</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">save_freq<span class="opacity-60">: int = 20000</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">checkpoint_format<span class="opacity-60">: CheckpointFormat = &lt;CheckpointFormat.SAFETENSORS: 'safetensors'></span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">use_policy_training_preset<span class="opacity-60">: bool = True</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">optimizer<span class="opacity-60">: lerobot.optim.optimizers.OptimizerConfig | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">scheduler<span class="opacity-60">: lerobot.optim.schedulers.LRSchedulerConfig | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">parallelism<span class="opacity-60">: ParallelismConfig = &lt;factory></span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">accelerator<span class="opacity-60">: AcceleratorConfig = &lt;factory></span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">eval<span class="opacity-60">: EvalConfig = &lt;factory></span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">ema<span class="opacity-60">: EMAConfig = &lt;factory></span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">wandb<span class="opacity-60">: WandBConfig = &lt;factory></span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">peft<span class="opacity-60">: lerobot.configs.default.PeftConfig | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">job<span class="opacity-60">: JobConfig = &lt;factory></span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">save_checkpoint_to_hub<span class="opacity-60">: bool = False</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">sample_weighting<span class="opacity-60">: lerobot.utils.sample_weighting.SampleWeightingConfig | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">rename_map<span class="opacity-60">: dict = &lt;factory></span></span></span><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----></div> <!--[1--><h2 class="relative group"><a id="lerobot.configs.PreTrainedConfig" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.configs.PreTrainedConfig"><span><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span>PreTrainedConfig</span></h2><!--]--><!----> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.configs.PreTrainedConfig"><!----><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">lerobot.configs.</span><span class="font-semibold">PreTrainedConfig</span></span></h3><!----> <a id="lerobot.configs.PreTrainedConfig" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.configs.PreTrainedConfig"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/configs/policies.py#L41" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">n_obs_steps<span class="opacity-60">: int = 1</span></span></span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">input_features<span class="opacity-60">: dict[str, lerobot.configs.types.PolicyFeature] | None = &lt;factory></span></span></span><span class="comma cursor-pointer"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">output_features<span class="opacity-60">: dict[str, lerobot.configs.types.PolicyFeature] | None = &lt;factory></span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">device<span class="opacity-60">: str | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">use_amp<span class="opacity-60">: bool = False</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">use_peft<span class="opacity-60">: bool = False</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">push_to_hub<span class="opacity-60">: bool = True</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">repo_id<span class="opacity-60">: str | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">private<span class="opacity-60">: bool | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">tags<span class="opacity-60">: list[str] | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">license<span class="opacity-60">: str | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">pretrained_path<span class="opacity-60">: pathlib.Path | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">pretrained_revision<span class="opacity-60">: str | None = None</span></span></span><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[0--><p class="flex items-center font-semibold !mt-2 !mb-2 text-gray-800">Parameters <span class="flex-auto border-t-2 border-gray-100 dark:border-gray-700 ml-3"></span></p> <ul class="px-2"><!--[--><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="lerobot.configs.PreTrainedConfig.n_obs_steps" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.configs.PreTrainedConfig.n_obs_steps"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span><!----><strong>n_obs_steps</strong> &#x2014; Number of environment steps worth of observations to pass to the policy (takes the
current step and additional steps going back).<!----></span></span></li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="lerobot.configs.PreTrainedConfig.input_features" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.configs.PreTrainedConfig.input_features"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span><!----><strong>input_features</strong> &#x2014; A dictionary defining the PolicyFeature of the input data for the policy. The key represents
the input data name, and the value is PolicyFeature, which consists of FeatureType and shape attributes.<!----></span></span></li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="lerobot.configs.PreTrainedConfig.output_features" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.configs.PreTrainedConfig.output_features"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span><!----><strong>output_features</strong> &#x2014; A dictionary defining the PolicyFeature of the output data for the policy. The key represents
the output data name, and the value is PolicyFeature, which consists of FeatureType and shape attributes.<!----></span></span></li><li class="text-base !pl-4 my-3 rounded "><span class="group flex space-x-1.5 items-start"><a id="lerobot.configs.PreTrainedConfig.normalization_mapping" class="header-link block pr-0.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.configs.PreTrainedConfig.normalization_mapping"><span><svg class="text-smd" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span><!----><strong>normalization_mapping</strong> &#x2014; A dictionary that maps from a str value of FeatureType (e.g., &#x201C;STATE&#x201D;, &#x201C;VISUAL&#x201D;) to
a corresponding NormalizationMode (e.g., NormalizationMode.MIN_MAX)<!----></span></span></li><!--]--></ul><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----> <p>Base configuration class for policy models.</p></div> <!--[1--><h2 class="relative group"><a id="lerobot.configs.DatasetConfig" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.configs.DatasetConfig"><span><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span>DatasetConfig</span></h2><!--]--><!----> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.configs.DatasetConfig"><!----><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">lerobot.configs.</span><span class="font-semibold">DatasetConfig</span></span></h3><!----> <a id="lerobot.configs.DatasetConfig" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.configs.DatasetConfig"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/configs/default.py#L29" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">repo_id<span class="opacity-60">: str</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">repo_type<span class="opacity-60">: str = 'dataset'</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">root<span class="opacity-60">: str | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">episodes<span class="opacity-60">: list[int] | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">exclude_episodes<span class="opacity-60">: list[int] | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">image_transforms<span class="opacity-60">: ImageTransformsConfig = &lt;factory></span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">revision<span class="opacity-60">: str | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">use_imagenet_stats<span class="opacity-60">: bool = True</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">video_backend<span class="opacity-60">: str = &lt;factory></span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">return_uint8<span class="opacity-60">: bool = False</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">depth_output_unit<span class="opacity-60">: str = 'mm'</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">streaming<span class="opacity-60">: bool = False</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">eval_split<span class="opacity-60">: float = 0.0</span></span></span><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----></div> <!--[1--><h2 class="relative group"><a id="lerobot.configs.EvalConfig" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.configs.EvalConfig"><span><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span>EvalConfig</span></h2><!--]--><!----> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.configs.EvalConfig"><!----><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">lerobot.configs.</span><span class="font-semibold">EvalConfig</span></span></h3><!----> <a id="lerobot.configs.EvalConfig" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.configs.EvalConfig"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/configs/default.py#L107" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">n_episodes<span class="opacity-60">: int = 50</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">batch_size<span class="opacity-60">: int = 0</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">use_async_envs<span class="opacity-60">: bool = True</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">recording<span class="opacity-60">: bool = False</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">recording_repo_id<span class="opacity-60">: str | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">recording_private<span class="opacity-60">: bool = False</span></span></span><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----></div> <!--[1--><h2 class="relative group"><a id="lerobot.configs.WandBConfig" class="header-link block pr-1.5 text-lg no-hover:hidden with-hover:absolute with-hover:p-1.5 with-hover:opacity-0 with-hover:group-hover:opacity-100 with-hover:right-full" href="#lerobot.configs.WandBConfig"><span><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></span></a> <span>WandBConfig</span></h2><!--]--><!----> <div class="docstring border-l-2 border-t-2 pl-4 pt-3.5 border-gray-100 rounded-tl-xl mb-6 mt-8"><div><span class="group flex space-x-1.5 items-center text-gray-800 bg-gradient-to-r rounded-tr-lg -mt-4 -ml-4 pt-3 px-2.5" id="lerobot.configs.WandBConfig"><!----><h3 class="!m-0"><span class="flex-1 break-all md:text-lg bg-gradient-to-r px-2.5 py-1.5 rounded-xl from-indigo-50/70 to-white dark:from-gray-900 dark:to-gray-950 dark:text-indigo-300 text-indigo-700"><svg class="mr-1.5 text-indigo-500 inline-block -mt-0.5" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" focusable="false" role="img" width=".8em" height=".8em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 24 24"><path class="uim-quaternary" d="M20.23 7.24L12 12L3.77 7.24a1.98 1.98 0 0 1 .7-.71L11 2.76c.62-.35 1.38-.35 2 0l6.53 3.77c.29.173.531.418.7.71z" opacity=".25" fill="currentColor"></path><path class="uim-tertiary" d="M12 12v9.5a2.09 2.09 0 0 1-.91-.21L4.5 17.48a2.003 2.003 0 0 1-1-1.73v-7.5a2.06 2.06 0 0 1 .27-1.01L12 12z" opacity=".5" fill="currentColor"></path><path class="uim-primary" d="M20.5 8.25v7.5a2.003 2.003 0 0 1-1 1.73l-6.62 3.82c-.275.13-.576.198-.88.2V12l8.23-4.76c.175.308.268.656.27 1.01z" fill="currentColor"></path></svg><span class="font-light">class</span> <span class="font-medium">lerobot.configs.</span><span class="font-semibold">WandBConfig</span></span></h3><!----> <a id="lerobot.configs.WandBConfig" class="header-link invisible with-hover:group-hover:visible pr-2" href="#lerobot.configs.WandBConfig"><svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 256"><path d="M167.594 88.393a8.001 8.001 0 0 1 0 11.314l-67.882 67.882a8 8 0 1 1-11.314-11.315l67.882-67.881a8.003 8.003 0 0 1 11.314 0zm-28.287 84.86l-28.284 28.284a40 40 0 0 1-56.567-56.567l28.284-28.284a8 8 0 0 0-11.315-11.315l-28.284 28.284a56 56 0 0 0 79.196 79.197l28.285-28.285a8 8 0 1 0-11.315-11.314zM212.852 43.14a56.002 56.002 0 0 0-79.196 0l-28.284 28.284a8 8 0 1 0 11.314 11.314l28.284-28.284a40 40 0 0 1 56.568 56.567l-28.285 28.285a8 8 0 0 0 11.315 11.314l28.284-28.284a56.065 56.065 0 0 0 0-79.196z" fill="currentColor"></path></svg><!----></a> <!--[0--><a class="!ml-auto !text-gray-400 !no-underline text-sm flex items-center" href="https://github.com/huggingface/lerobot/blob/vr_4380/src/lerobot/configs/default.py#L94" target="_blank"><span>&lt;</span> <span class="hidden md:block mx-0.5 hover:!underline">source</span> <span>></span></a><!--]--></span> <!--[0--><p class="font-mono text-xs md:text-sm !leading-relaxed !my-6"><span>(</span> <!--[--><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">enable<span class="opacity-60">: bool = False</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">disable_artifact<span class="opacity-60">: bool = False</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">project<span class="opacity-60">: str = 'lerobot'</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">entity<span class="opacity-60">: str | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">notes<span class="opacity-60">: str | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">run_id<span class="opacity-60">: str | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">mode<span class="opacity-60">: str | None = None</span></span></span><span class="comma cursor-default"><span class="rounded hover:bg-black hover:text-white dark:hover:bg-white dark:hover:text-black">add_tags<span class="opacity-60">: bool = True</span></span></span><!--]--> <span>)</span> <!--[-1--><!--]--></p><!--]--> <div class="!mb-10 relative docstring-details "><!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--> <!--[-1--><!--]--></div></div><!----></div> <a class="!text-gray-400 !no-underline text-sm flex items-center not-prose mt-4" href="https://github.com/huggingface/lerobot/blob/main/docs/source/api/configs.mdx" target="_blank"><svg class="mr-1" xmlns="http://www.w3.org/2000/svg" aria-hidden="true" fill="currentColor" focusable="false" role="img" width="1em" height="1em" preserveAspectRatio="xMidYMid meet" viewBox="0 0 32 32"><path d="M31,16l-7,7l-1.41-1.41L28.17,16l-5.58-5.59L24,9l7,7z"></path><path d="M1,16l7-7l1.41,1.41L3.83,16l5.58,5.59L8,23l-7-7z"></path><path d="M12.419,25.484L17.639,6.552l1.932,0.518L14.351,26.002z"></path></svg><!----> <span><span class="underline">Update</span> on GitHub</span></a><!----> <p></p><!--]--><!----><!--]--><!--]--><!--]--> <!--[-1--><!--]--><!--]-->
			
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