From 97bda08e0f9172b6e3459c786634f09bdafbfe2c Mon Sep 17 00:00:00 2001
From: Remi Cadene <re.cadene@gmail.com>
Date: Thu, 30 May 2024 13:35:02 +0000
Subject: [PATCH] Rename Aloha2 to Aloha

---
 .../env/{aloha2_real.yaml => aloha_real.yaml}    |  2 +-
 lerobot/configs/policy/act_real.yaml             | 16 +++++++++++++++-
 lerobot/configs/policy/act_real_no_state.yaml    |  2 +-
 3 files changed, 17 insertions(+), 3 deletions(-)
 rename lerobot/configs/env/{aloha2_real.yaml => aloha_real.yaml} (86%)

diff --git a/lerobot/configs/env/aloha2_real.yaml b/lerobot/configs/env/aloha_real.yaml
similarity index 86%
rename from lerobot/configs/env/aloha2_real.yaml
rename to lerobot/configs/env/aloha_real.yaml
index 3053fc01b..088781d4e 100644
--- a/lerobot/configs/env/aloha2_real.yaml
+++ b/lerobot/configs/env/aloha_real.yaml
@@ -4,7 +4,7 @@ fps: 30
 
 env:
   name: dora
-  task: DoraAloha2-v0
+  task: DoraAloha-v0
   state_dim: 14
   action_dim: 14
   fps: ${fps}
diff --git a/lerobot/configs/policy/act_real.yaml b/lerobot/configs/policy/act_real.yaml
index 684085ec7..f39a03e97 100644
--- a/lerobot/configs/policy/act_real.yaml
+++ b/lerobot/configs/policy/act_real.yaml
@@ -1,7 +1,21 @@
 # @package _global_
 
+# Use `act_real.yaml` to train on real-world Aloha/Aloha2 datasets.
+# Compared to `act.yaml`, it contains 4 cameras (i.e. cam_right_wrist, cam_left_wrist, images,
+# cam_low) instead of 1 camera (i.e. top). Also, `training.eval_freq` is set to -1. This config is used
+# to evaluate checkpoints at a certain frequency of training steps. When it is set to -1, it deactivates evaluation.
+# This is because real-world evaluation is done through [dora-lerobot](https://github.com/dora-rs/dora-lerobot).
+# Look at its README for more information on how to evaluate a checkpoint in the real-world.
+#
+# Example of usage for training:
+# ```bash
+# python lerobot/scripts/train.py \
+#   policy=act_real \
+#   env=aloha_real
+# ```
+
 seed: 1000
-dataset_repo_id: cadene/wrist_gripper
+dataset_repo_id: lerobot/aloha_static_vinh_cup
 
 override_dataset_stats:
   observation.images.cam_right_wrist:
diff --git a/lerobot/configs/policy/act_real_no_state.yaml b/lerobot/configs/policy/act_real_no_state.yaml
index a8b1c9b6c..5adee4346 100644
--- a/lerobot/configs/policy/act_real_no_state.yaml
+++ b/lerobot/configs/policy/act_real_no_state.yaml
@@ -9,7 +9,7 @@
 # ```bash
 # python lerobot/scripts/train.py \
 #   policy=act_real_no_state \
-#   env=dora_aloha_real
+#   env=aloha2_real
 # ```
 
 seed: 1000