lerobot/config_examples

A repository that contains example json files that can be used for different applications of the LeRobot code base.

Current available configs:

• —RL :
• —envconfig.json: Environment config for a real robot setup using a gamepad for teleoperation and an SO10* arm as the main agent. Using `gymmanipulator.py`, one can use this config to teleoperate the robot and record a dataset for reinforcement learning.
• —trainconfig.json: Training config for the HIL-SERL implementation in LeRobot on the real robot using the similar environment configuration to the `envconfig.json` in the same directory.
• —gym_hil:
• —envconfig.json: Environment config for simulation using the `gymhil` environment.
• —train_config.json: Training config for the HIL-SERL implementation in LeRobot for simulated environments.
• —Sim IL:
• —envconfig.json: Environment config for simulation using the `gymhil` environment. You can use this configuration to collect a dataset in simulation that can be used for imitation learning or reinforcement learning.
• —evalconfig.json: Evaluation config for models trained on datasets collected from `gymhil` environment.
• —Reward Classifier:
• —config.json: Main configuration for training a reward classifier.