# Configuration

LeRobot configuration is plain dataclasses parsed by [draccus](https://github.com/dlwh/draccus), so every
field is settable from the CLI. [`TrainPipelineConfig`] is the top-level object for `lerobot-train`.

Polymorphic configs (policies, robots, environments) use `draccus.ChoiceRegistry`: a subclass registers
itself with `@register_subclass("name")` and is then selectable by that name on the command line.

## TrainPipelineConfig

[[autodoc]] lerobot.configs.train.TrainPipelineConfig

## EvalPipelineConfig

[[autodoc]] lerobot.configs.eval.EvalPipelineConfig

## PreTrainedConfig

[[autodoc]] lerobot.configs.PreTrainedConfig

## RewardModelConfig

[[autodoc]] lerobot.configs.rewards.RewardModelConfig

## DatasetConfig

[[autodoc]] lerobot.configs.DatasetConfig

## DatasetRecordConfig

[[autodoc]] lerobot.configs.DatasetRecordConfig

## EvalConfig

[[autodoc]] lerobot.configs.EvalConfig

## WandBConfig

[[autodoc]] lerobot.configs.WandBConfig

## PeftConfig

[[autodoc]] lerobot.configs.PeftConfig

## JobConfig

[[autodoc]] lerobot.configs.JobConfig

## Feature types

[[autodoc]] lerobot.configs.FeatureType

[[autodoc]] lerobot.configs.PipelineFeatureType

[[autodoc]] lerobot.configs.NormalizationMode

[[autodoc]] lerobot.configs.PolicyFeature

[[autodoc]] lerobot.configs.RTCAttentionSchedule

## Video encoding

[[autodoc]] lerobot.configs.VideoEncoderConfig

[[autodoc]] lerobot.configs.RGBEncoderConfig

[[autodoc]] lerobot.configs.DepthEncoderConfig

[[autodoc]] lerobot.configs.encoder_config_from_video_info

## Distributed training

[[autodoc]] lerobot.configs.parallelism.ParallelismConfig

[[autodoc]] lerobot.configs.parallelism.ContextParallelConfig

[[autodoc]] lerobot.configs.accelerator.AcceleratorConfig

[[autodoc]] lerobot.configs.accelerator.FSDPConfig

[[autodoc]] lerobot.configs.accelerator.DDPConfig

[[autodoc]] lerobot.configs.accelerator.GradientAccumulationConfig

[[autodoc]] lerobot.configs.accelerator.CompileConfig

[[autodoc]] lerobot.configs.accelerator.ActivationCheckpointingConfig

[[autodoc]] lerobot.configs.accelerator.ActivationCheckpointingMode