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Maxime Ellerbach
2026-07-17 15:49:32 +00:00
parent fb8c6ac8b9
commit 379890cd4a
2 changed files with 25 additions and 23 deletions
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docs/source/inference.mdx
+2 -2
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@@ -40,7 +40,7 @@ lerobot-rollout \
``` ```
| Flag | Description | | Flag | Description |
| ---------------- | ------------------------------------------------------ | | ---------------- | ------------------------------------------------------------------------------------------------------------------------------------------- |
| `--duration` | Run time in seconds (0 = infinite) | | `--duration` | Run time in seconds (0 = infinite) |
| `--task` | Task description passed to the policy | | `--task` | Task description passed to the policy |
| `--display_data` | Stream observations/actions to the visualization backend (`--display_mode`; add `--display_extra_data` for a policy's imagined predictions) | | `--display_data` | Stream observations/actions to the visualization backend (`--display_mode`; add `--display_extra_data` for a policy's imagined predictions) |
@@ -242,7 +242,7 @@ See the [Real-Time Chunking](./rtc) guide for details on tuning RTC parameters.
## Common Flags ## Common Flags
| Flag | Description | Default | | Flag | Description | Default |
| --------------------------------- | ----------------------------------------------------------------- | ------- | | --------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------- | ------- |
| `--policy.path` | **Required.** HF Hub model ID or local checkpoint path | -- | | `--policy.path` | **Required.** HF Hub model ID or local checkpoint path | -- |
| `--robot.type` | **Required.** Robot type (e.g. `so100_follower`, `koch_follower`) | -- | | `--robot.type` | **Required.** Robot type (e.g. `so100_follower`, `koch_follower`) | -- |
| `--robot.port` | Serial port for the robot | -- | | `--robot.port` | Serial port for the robot | -- |
src/lerobot/policies/lingbot_va/modeling_lingbot_va.py
+3 -1
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@@ -419,7 +419,9 @@ class LingBotVAPolicy(PreTrainedPolicy):
# First call: this observation conditions the first chunk (it is *not* a keyframe). # First call: this observation conditions the first chunk (it is *not* a keyframe).
self._started = True self._started = True
actions, predictions = unpack_action_output( actions, predictions = unpack_action_output(
self.predict_action_chunk(batch, return_intermediate_predictions=return_intermediate_predictions) self.predict_action_chunk(
batch, return_intermediate_predictions=return_intermediate_predictions
)
) # [B, chunk_size, n_used] ) # [B, chunk_size, n_used]
self._action_queue.extend(actions.transpose(0, 1)) # [chunk_size, B, n_used] self._action_queue.extend(actions.transpose(0, 1)) # [chunk_size, B, n_used]
self._obs_buffer = [] self._obs_buffer = []