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Pi0 eval dataset

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Eugene Mironov
2025-11-07 03:03:32 +07:00
parent 6684c68612
commit 577ab57bab
1 changed files with 9 additions and 2 deletions
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examples/rtc/eval_dataset.py
+9 -2
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@@ -25,12 +25,19 @@ Usage:
--rtc.execution_horizon=8 \
--device=mps
# Basic usage with pi0.5 policy
# Basic usage with pi0.5 policy with cuda device
uv run python examples/rtc/eval_dataset.py \
--policy.path=lerobot/pi05_libero_finetuned \
--dataset.repo_id=HuggingFaceVLA/libero \
--rtc.execution_horizon=8 \
--device=mps
--device=cuda
# Basic usage with pi0 policy with cuda device
uv run python examples/rtc/eval_dataset.py \
--policy.path=lerobot/pi0_libero_finetuned \
--dataset.repo_id=HuggingFaceVLA/libero \
--rtc.execution_horizon=8 \
--device=cuda
# With torch.compile for faster inference (PyTorch 2.0+)
# Note: CUDA graphs disabled by default due to in-place ops in denoising loop