From 577ab57bab2372873129faf3179c1ace30d18f38 Mon Sep 17 00:00:00 2001 From: Eugene Mironov Date: Fri, 7 Nov 2025 03:03:32 +0700 Subject: [PATCH] Pi0 eval dataset --- examples/rtc/eval_dataset.py | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/examples/rtc/eval_dataset.py b/examples/rtc/eval_dataset.py index dcf6ed660..737e9f890 100644 --- a/examples/rtc/eval_dataset.py +++ b/examples/rtc/eval_dataset.py @@ -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