config.yaml

# Copyright(C) 2026 Advanced Micro Devices, Inc. All rights reserved.
# SPDX-License-Identifier: MIT

### ryzers build options

# init_image is omitted on purpose: ryzers defaults to RYZERS_DEFAULT_INIT_IMAGE
# (the public rocm/pytorch ROCm+torch base), which is all this package needs.

# Pin the upstream MolmoAct2 source + lerobot ref this package builds against.
build_arguments:
- "MOLMOACT2_COMMIT=cdf4b7728e0545366bf3366639fd86477ef59d04"
- "LEROBOT_REF=molmoact2-hf-inference"

### ryzers run options

gpu_support: true
x11_display: false

# Weights and HF datasets are NOT baked into the image; they download once into
# the persistent /root/.cache/huggingface volume and are reused across runs.
# Artifacts (videos + joint-angle plots) land under /outputs.
environment_variables:
- "HF_HOME=/root/.cache/huggingface"
# HF download backend: default to single-stream with the Xet client off for reliable
# anonymous downloads. Override for speed where permits/auth allow:
#   HF_HUB_ENABLE_HF_TRANSFER=1 ryzers run ...
- 'HF_HUB_DISABLE_XET=${HF_HUB_DISABLE_XET:-1}'
- 'HF_HUB_ENABLE_HF_TRANSFER=${HF_HUB_ENABLE_HF_TRANSFER:-0}'
- 'HF_HUB_DOWNLOAD_TIMEOUT=${HF_HUB_DOWNLOAD_TIMEOUT:-60}'
- "HF_HUB_DISABLE_TELEMETRY=1"
- "TOKENIZERS_PARALLELISM=false"
- "MUJOCO_GL=egl"
- "PYOPENGL_PLATFORM=egl"
# ROCm perf levers for gfx1151.
- "TORCH_ROCM_AOTRITON_ENABLE_EXPERIMENTAL=1"
- "TORCH_BLAS_PREFER_HIPBLASLT=0"
- "OUT_DIR=/outputs"
# Per-demo knobs (override from the host: VAR=... ryzers run /ryzers/demo_*.sh).
- 'SEED=${SEED:-}'
- 'EPISODE=${EPISODE:-}'
- 'SUITE=${SUITE:-}'
- 'TASK_ID=${TASK_ID:-}'
- 'THINK=${THINK:-}'
- 'HF_TOKEN=${HF_TOKEN:-}'
# Flow-matching denoising steps (lower = a bit faster inference). Blank = model default.
- 'NUM_STEPS=${NUM_STEPS:-}'
# Interactive demo (demo_interactive.sh / demo_interactive_rt.sh) knobs.
- 'PORT=${PORT:-}'
- 'RT_HZ=${RT_HZ:-}'
- 'RT_LOOKAHEAD=${RT_LOOKAHEAD:-}'
# Sim horizon (max episode steps) for the real-time demo; raise for longer tasks.
- 'RT_MAX_STEPS=${RT_MAX_STEPS:-}'
# Cross-embodiment arm selector (panda | ur5e | xarm6).
- 'EMBODIMENT=${EMBODIMENT:-}'

volume_mappings:
- "$PWD/workspace/molmoact2/outputs:/outputs"
- "$PWD/workspace/molmoact2/models:/models"
- "$PWD/workspace/.cache/huggingface:/root/.cache/huggingface"

# --network=host, --ipc=host, and --shm-size 16G are provided by the Ryzer default
# run flags. Repeating them here makes Docker reject the run.