Config Files for Aloha Solo

[shantanuparab-tr]

What this does

This PR adds the necessary configuration files for Aloha Solo. It includes:

• Robot Configuration: aloha_solo.yaml (to be placed in lerobot/configs/robot/)
• Policy Configuration: act_aloha_solo_real.yaml (to be placed in lerobot/configs/policy/)
• Environment Configuration: aloha_solo_real.yaml (to be placed in lerobot/configs/env/)

How it was tested

• Verified training convergence using policy act_aloha_solo on environment aloha_solo.
• Ran teleoperation, data recording, and evaluation commands to confirm functionality.

How to checkout & try? (for the reviewer)

Teleoperation

python lerobot/scripts/control_robot.py teleoperate \
   --robot-path lerobot/configs/robot/aloha_solo.yaml

Recording Data

python lerobot/scripts/control_robot.py record \
   --robot-path lerobot/configs/robot/aloha_solo.yaml \
   --fps 30 \
   --root data \
   --repo-id ${HF_USER}/aloha_solo_dataset \
   --warmup-time-s 5 \
   --episode-time-s 30 \
   --reset-time-s 30 \
   --num-episodes 10

Training

DATA_DIR=data python lerobot/scripts/train.py \
   dataset_repo_id=${HF_USER}/aloha_solo_dataset \
   policy=act_aloha_solo_real \
   env=aloha_solo_real \
   hydra.run.dir=outputs/train/act_aloha_solo \
   hydra.job.name=act_aloha_solo \
   device=cuda \
   wandb.enable=false

Evaluation

python lerobot/scripts/control_robot.py record \
   --robot-path lerobot/configs/robot/aloha.yaml \
   --fps 30 \
   --root data \
   --repo-id ${HF_USER}/eval_aloha_test \
   --tags tutorial eval \
   --warmup-time-s 5 \
   --episode-time-s 30 \
   --reset-time-s 30 \
   --num-episodes 10 \
   -p outputs/train/act_aloha_solo/checkpoints/last/pretrained_model