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Steven Palma
2026-04-15 19:31:53 +02:00
parent edd7fc52a8
commit 4e3175ff15
12 changed files with 139 additions and 77 deletions
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docs/source/hil_data_collection.mdx
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@@ -68,12 +68,12 @@ The `lerobot-rollout --strategy.type=dagger` mode requires **teleoperators with
## Script
Use `lerobot-rollout` with `--strategy.type=dagger` for HIL data collection. Toggle RTC with `--rtc.enabled=true`:
Use `lerobot-rollout` with `--strategy.type=dagger` for HIL data collection. Select the inference backend with `--inference.type=sync|rtc`:
| Mode | Flag | Models |
| ------------------------ | -------------------- | --------------------- |
| Standard (default) | _(no flag needed)_ | ACT, Diffusion Policy |
| Real-Time Chunking (RTC) | `--rtc.enabled=true` | Pi0, Pi0.5, SmolVLA |
| Mode | Flag | Models |
| ------------------------ | ---------------------- | --------------------- |
| Standard (default) | _(no flag needed)_ | ACT, Diffusion Policy |
| Real-Time Chunking (RTC) | `--inference.type=rtc` | Pi0, Pi0.5, SmolVLA |
---
@@ -122,10 +122,10 @@ For models with high inference latency, enable RTC for smooth execution:
```bash
lerobot-rollout --strategy.type=dagger \
--rtc.enabled=true \
--rtc.execution_horizon=20 \
--rtc.max_guidance_weight=5.0 \
--rtc.prefix_attention_schedule=LINEAR \
--inference.type=rtc \
--inference.rtc.execution_horizon=20 \
--inference.rtc.max_guidance_weight=5.0 \
--inference.rtc.prefix_attention_schedule=LINEAR \
--robot.type=bi_openarm_follower \
--robot.left_arm_config.port=can1 \
--robot.left_arm_config.side=left \