worldforge/.env.example at main · AbdelStark/worldforge · GitHub

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# WorldForge environment configuration template.
#
# Copy this file to `.env` and fill in the values for the providers you plan to
# use. WorldForge only auto-registers optional providers when their required
# environment variables are present, so leaving a block blank simply disables
# that provider.
#
# Never commit a real `.env`. Credentials belong to the host environment.

# -----------------------------------------------------------------------------
# Cosmos-Policy (NVIDIA Cosmos-Policy ALOHA /act server) -- policy
# -----------------------------------------------------------------------------
# Required to auto-register: base URL of a reachable Cosmos-Policy policy server.
# Public/routable endpoints are allowed by default. Localhost/private endpoints
# require COSMOS_POLICY_ALLOW_LOCAL_BASE_URL=1 below.
# Example: https://cosmos-policy.example.com
COSMOS_POLICY_BASE_URL=

# Optional bearer token sent as `Authorization: Bearer ...` when set.
# COSMOS_POLICY_API_TOKEN=

# Optional: HTTP timeout in seconds for policy requests (default 600).
# COSMOS_POLICY_TIMEOUT_SECONDS=600

# Optional: embodiment tag attached to policy results (default aloha).
# COSMOS_POLICY_EMBODIMENT_TAG=aloha

# Optional: model metadata recorded in policy results.
# COSMOS_POLICY_MODEL=nvidia/Cosmos-Policy-ALOHA-Predict2-2B

# Optional: request all Cosmos-Policy query candidates when supported by the server.
# COSMOS_POLICY_RETURN_ALL_QUERY_RESULTS=

# Optional: explicitly allow localhost/private Cosmos-Policy base URLs for trusted
# SSH tunnels or lab networks. Keep unset for public/routable endpoints.
# COSMOS_POLICY_ALLOW_LOCAL_BASE_URL=

# Optional: comma-separated hostname allowlist for deployments that restrict the
# configured Cosmos-Policy endpoint. Supports shell-style wildcards.
# COSMOS_POLICY_ALLOWED_HOSTS=*.example.com,185.216.20.241

# -----------------------------------------------------------------------------
# LeWorldModel (JEPA cost model via stable_worldmodel) -- score
# -----------------------------------------------------------------------------
# Required to auto-register: checkpoint run name relative to $STABLEWM_HOME
# (upstream default: ~/.stable-wm). Example: pusht/lewm
# LEWM_POLICY is accepted as a legacy alias.
LEWORLDMODEL_POLICY=
# LEWM_POLICY=

# Optional: override the checkpoint cache directory.
# STABLEWM_HOME=
# LEWORLDMODEL_CACHE_DIR=

# Optional: pinned Hugging Face commit SHA for auto-built LeWM assets.
# LEWORLDMODEL_REVISION=22b330c28c27ead4bfd1888615af1340e3fe9052

# Optional: config/weights cache directory used by the LeWM checkpoint builder.
# LEWORLDMODEL_ASSET_CACHE_DIR=

# Optional: torch device string, e.g. cpu, cuda, cuda:0.
# LEWORLDMODEL_DEVICE=

# -----------------------------------------------------------------------------
# GR00T (NVIDIA Isaac GR00T PolicyClient) -- policy
# -----------------------------------------------------------------------------
# Required to auto-register: reachable host running the GR00T policy server.
GROOT_POLICY_HOST=

# Optional: port (default 5555).
# GROOT_POLICY_PORT=5555

# Optional: request timeout in milliseconds (default 15000).
# GROOT_POLICY_TIMEOUT_MS=15000

# Optional: bearer token sent to the policy server when set.
# GROOT_POLICY_API_TOKEN=

# Optional: 1/true enables strict mode on the PolicyClient.
# GROOT_POLICY_STRICT=

# Optional: embodiment tag attached to policy requests.
# GROOT_EMBODIMENT_TAG=

# -----------------------------------------------------------------------------
# LeRobot (Hugging Face LeRobot pretrained policies) -- policy
# -----------------------------------------------------------------------------
# Required to auto-register: Hugging Face repo id or local checkpoint directory.
# Example: lerobot/act_aloha_sim_transfer_cube_human
# LEROBOT_POLICY is accepted as a legacy alias.
LEROBOT_POLICY_PATH=
# LEROBOT_POLICY=

# Optional: policy class hint. Must be one of:
# act, diffusion, pi0, pi0fast, sac, smolvla, tdmpc, vqbet
# LEROBOT_POLICY_TYPE=

# Optional: torch device string.
# LEROBOT_DEVICE=

# Optional: checkpoint cache directory.
# LEROBOT_CACHE_DIR=

# Optional: embodiment tag attached to policy requests.
# LEROBOT_EMBODIMENT_TAG=

# -----------------------------------------------------------------------------
# JEPA-WMS candidate (facebookresearch/jepa-wms torch-hub scaffold)
# -----------------------------------------------------------------------------
# These variables are documented by the `jepa-wms` provider candidate only and
# do NOT make JEPAWMSProvider available through WorldForge auto-registration.
# Direct tests must inject `runtime=` or use JEPAWMSProvider.from_torch_hub(...).
# JEPA_WMS_MODEL_PATH=
# JEPA_WMS_MODEL_NAME=
# JEPA_WMS_DEVICE=

# -----------------------------------------------------------------------------
# Experimental and scaffold providers
# -----------------------------------------------------------------------------
# JEPA_MODEL_NAME enables the experimental score-only JEPA adapter backed by the
# host-owned facebookresearch/jepa-wms torch-hub path. JEPA_MODEL_PATH is legacy
# scaffold metadata only. Genie remains a capability-closed reservation; the
# deterministic surrogate path is for local adapter tests only and also requires
# WORLDFORGE_ENABLE_SCAFFOLD_SURROGATES=1.
# JEPA_MODEL_NAME=jepa_wm_pusht
# JEPA_MODEL_PATH=
# JEPA_DEVICE=
# GENIE_API_KEY=
# WORLDFORGE_ENABLE_SCAFFOLD_SURROGATES=