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This commit is contained in:
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/rtc.mdx
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@@ -34,7 +34,7 @@ pip install -e ".[smolvla]"
### Using RTC with Pi0
You can use `lerobot-rollout --strategy.type=base --rtc.enabled=true` for RTC deployment on real robots.
You can use `lerobot-rollout --strategy.type=base --inference.type=rtc` for RTC deployment on real robots.
The snippet below provides a simplified pseudo-example of how RTC operates with Pi0 in your pipeline:
```python
@@ -140,9 +140,9 @@ The script generates a visualization of the denoising process, comparing standar
lerobot-rollout \
--strategy.type=base \
--policy.path=${HF_USERNAME}/policy_repo_id \
--rtc.enabled=true \
--rtc.execution_horizon=10 \
--rtc.max_guidance_weight=10.0 \
--inference.type=rtc \
--inference.rtc.execution_horizon=10 \
--inference.rtc.max_guidance_weight=10.0 \
--robot.type=so100_follower \
--robot.port=/dev/tty.usbmodem58FA0834591 \
--robot.cameras="{ gripper: {type: opencv, index_or_path: 1, width: 640, height: 480, fps: 30}, front: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30}}" \