Add RTC to PI0

examples/rtc/eval_dataset.py

@@ -11,13 +11,20 @@ It compares action predictions with and without RTC on dataset samples,
 measuring consistency and ground truth alignment.
 
 Usage:
-    # Basic usage
+    # Basic usage with smolvla policy
     uv run python examples/rtc/eval_dataset.py \
         --policy.path=helper2424/smolvla_check_rtc_last3 \
         --dataset.repo_id=helper2424/check_rtc \
         --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 \

src/lerobot/policies/pi0/configuration_pi0.py

@@ -20,6 +20,7 @@ from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
 from lerobot.optim.optimizers import AdamWConfig
 from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
+from lerobot.policies.rtc.configuration_rtc import RTCConfig
 from lerobot.utils.constants import OBS_IMAGES
 
 
@@ -47,6 +48,9 @@ class PI0Config(PreTrainedConfig):
     min_period: float = 4e-3
     max_period: float = 4.0
 
+    # Real-Time Chunking (RTC) configuration
+    rtc_config: RTCConfig | None = None
+
     image_resolution: tuple[int, int] = (224, 224)  # see openpi `preprocessing_pytorch.py`
 
     # Add empty images. Used to add empty cameras when no image features are present.

src/lerobot/policies/pi05/configuration_pi05.py

@@ -20,6 +20,7 @@ from lerobot.configs.policies import PreTrainedConfig
 from lerobot.configs.types import FeatureType, NormalizationMode, PolicyFeature
 from lerobot.optim.optimizers import AdamWConfig
 from lerobot.optim.schedulers import CosineDecayWithWarmupSchedulerConfig
+from lerobot.policies.rtc.configuration_rtc import RTCConfig
 
 
 @PreTrainedConfig.register_subclass("pi05")
@@ -46,6 +47,9 @@ class PI05Config(PreTrainedConfig):
     min_period: float = 4e-3
     max_period: float = 4.0
 
+    # Real-Time Chunking (RTC) configuration
+    rtc_config: RTCConfig | None = None
+
     image_resolution: tuple[int, int] = (224, 224)  # see openpi `preprocessing_pytorch.py`
 
     # Add empty images. Used to add empty cameras when no image features are present.