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feat(pi052): add training-time RTC

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Pepijn
2026-07-16 10:38:28 +02:00
parent 5b8e6ffe8e
commit 18e02ded4f
10 changed files with 396 additions and 25 deletions
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docs/source/inference.mdx
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@@ -274,12 +274,13 @@ lerobot-rollout \
--device=cuda
```
| Flag | Description |
| ------------------------------------------- | -------------------------------------------------------------- |
| `--inference.rtc.execution_horizon` | Steps to blend with previous chunk (default: varies by policy) |
| `--inference.rtc.max_guidance_weight` | Consistency enforcement strength (default: varies by policy) |
| `--inference.rtc.prefix_attention_schedule` | Blend schedule: `LINEAR`, `EXP`, `ONES`, `ZEROS` |
| `--inference.queue_threshold` | Max queue size before backpressure (default: 30) |
| Flag | Description |
| ------------------------------------------- | ------------------------------------------------------------------------------- |
| `--inference.rtc.execution_horizon` | Steps to blend with previous chunk (default: varies by policy) |
| `--inference.rtc.mode` | `guided` (default) or trained-prefix `trained` for compatible Pi052 checkpoints |
| `--inference.rtc.max_guidance_weight` | Consistency enforcement strength (default: varies by policy) |
| `--inference.rtc.prefix_attention_schedule` | Blend schedule: `LINEAR`, `EXP`, `ONES`, `ZEROS` |
| `--inference.queue_threshold` | Max queue size before backpressure (default: 30) |
See the [Real-Time Chunking](./rtc) guide for details on tuning RTC parameters.