lerobot/examples/experiments/configs/lww_mixture_of_faults.yaml at d20888c18fc7d4ccda9942d702bfbc7d2bf5aae1 · huggingface/lerobot · GitHub

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# Mixture of faults -- drops, duplicates, reordering, and disconnect combined
name: mixture_of_faults_cloud_raspberry

# Hardware
robot_type: so101
gpu: RTX 4090
client_host: raspberrypiv5
server_host: cloudserver4090

# Policy
policy_type: smolvla
pretrained_name_or_path: jackvial/so101_smolvla_pickplaceorangecube_e100

# DRTC parameters
estimator: jk
cooldown: true
latency_k: 1.5
epsilon: 1
s_min: 20
latency_alpha: 0.125
latency_beta: 0.25

# Timing
duration_s: 25.0
fps: 60
actions_per_chunk: 50

# Butterworth filter
action_filter_mode: butterworth
action_filter_butterworth_cutoff: 3.0
action_filter_gain: 1.4

# Flow matching / RTC
num_flow_matching_steps: 8
rtc_enabled: true
rtc_sigma_d: 0.2
rtc_prefix_attention_schedule: linear

# Diagnostics
full_diagnostics: false

# Fault injection
drop_obs:
  - {start_s: 4.0, duration_s: 2.0}
drop_action:
  - {start_s: 7.0, duration_s: 2.0}
dup_obs:
  - {start_s: 10.0, duration_s: 2.0}
dup_action:
  - {start_s: 13.0, duration_s: 2.0}
reorder_obs:
  - {start_s: 16.0, duration_s: 3.0}
reorder_action:
  - {start_s: 20.0, duration_s: 3.0}
# disconnect:
#   - {start_s: 22.0, duration_s: 2.0}