( dataset: DatasetConfigenv: lerobot.envs.configs.EnvConfig | None = Nonepolicy: lerobot.configs.policies.PreTrainedConfig | None = Nonereward_model: lerobot.configs.rewards.RewardModelConfig | None = Noneoutput_dir: pathlib.Path | None = Nonejob_name: str | None = Noneresume: bool = Falseseed: int | None = 1000cudnn_deterministic: bool = Falsetf32: bool | None = Truenum_workers: int = 4batch_size: int = 8prefetch_factor: int = 4persistent_workers: bool = Truedataloader_multiprocessing_context: str | None = 'spawn'steps: int = 100000env_eval_freq: int = 20000log_freq: int = 200eval_steps: int = 0max_eval_samples: int = 0tolerance_s: float = 0.0001save_checkpoint: bool = Truesave_freq: int = 20000checkpoint_format: CheckpointFormat = <CheckpointFormat.SAFETENSORS: 'safetensors'>use_policy_training_preset: bool = Trueoptimizer: lerobot.optim.optimizers.OptimizerConfig | None = Nonescheduler: lerobot.optim.schedulers.LRSchedulerConfig | None = Noneparallelism: ParallelismConfig = <factory>accelerator: AcceleratorConfig = <factory>eval: EvalConfig = <factory>ema: lerobot.optim.ema.EMAConfig | None = Nonetrackio: TrackioConfig = <factory>peft: lerobot.configs.default.PeftConfig | None = Nonejob: JobConfig = <factory>save_checkpoint_to_hub: bool = Falsesample_weighting: lerobot.utils.sample_weighting.SampleWeightingConfig | None = Nonerename_map: dict = <factory> )

( n_obs_steps: int = 1input_features: dict[str, lerobot.configs.types.PolicyFeature] | None = <factory>output_features: dict[str, lerobot.configs.types.PolicyFeature] | None = <factory>device: str | None = Nonedtype: torch.dtype | None = Noneuse_amp: bool = Falseuse_peft: bool = Falsepush_to_hub: bool = Truerepo_id: str | None = Noneprivate: bool | None = Nonetags: list[str] | None = Nonelicense: str | None = Nonepretrained_path: pathlib.Path | None = Nonepretrained_revision: str | None = None )

( repo_id: strrepo_type: str = 'dataset'root: str | None = Noneepisodes: list[int] | None = Noneexclude_episodes: list[int] | None = Noneimage_transforms: ImageTransformsConfig = <factory>revision: str | None = Noneuse_imagenet_stats: bool = Truevideo_backend: str = <factory>return_uint8: bool = Falsedepth_output_unit: str = 'mm'streaming: bool = Falsestreaming_episode_pool_size: int | None = Nonestreaming_sampling_strategy: StreamingSamplingStrategy = <StreamingSamplingStrategy.REMAINING: 'remaining'>streaming_prefetch_episodes: int = 8streaming_byte_budget_gb: float = 8.0streaming_decode_threads: int = 2streaming_decoded_queue_size: int = 8streaming_native_http_connections: int | None = Nonestreaming_native_http_subranges: int = 1streaming_sidecar_lock_timeout_s: float = 1800video_decoder_cache_size: int | None = Noneeval_split: float = 0.0 )

( n_episodes: int = 50batch_size: int = 0use_async_envs: bool = Truerecording: bool = Falserecording_repo_id: str | None = Nonerecording_private: bool = Falsemax_episode_steps: int | None = None )

( enable: bool = Falsedisable_artifact: bool = Trueproject: str = 'lerobot'space_id: str | None = Noneprivate: bool | None = Nonerun_name: str | None = Noneresume: str | None = Nonecapture_console: bool = True )