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This commit is contained in:
Eugene Mironov
2025-11-07 02:58:38 +07:00
parent 687484a864
commit 6684c68612
3 changed files with 173 additions and 29 deletions
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examples/rtc/eval_dataset.py
+7
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@@ -25,6 +25,13 @@ Usage:
--rtc.execution_horizon=8 \
--device=mps
# Basic usage with pi0.5 policy
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
# With torch.compile for faster inference (PyTorch 2.0+)
# Note: CUDA graphs disabled by default due to in-place ops in denoising loop
uv run python examples/rtc/eval_dataset.py \