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feat(pi05): add training-time RTC

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Extend trained RTC conditioning and postfix-only flow loss to plain PI05 so single-task checkpoints can use the same real-time chunking path as PI052.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
pepijn
2026-07-17 10:14:13 +00:00
committed by Pepijn
parent c395286f3c
commit 962d754658
6 changed files with 140 additions and 20 deletions
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tests/policies/rtc/test_modeling_rtc.py
+1 -1
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@@ -96,7 +96,7 @@ def test_rtc_processor_initialization_without_debug(rtc_config_debug_disabled):
def test_rtc_processor_rejects_trained_mode_when_policy_does_not_support_it():
config = RTCConfig(mode="trained")
with pytest.raises(ValueError, match="requires a Pi052 checkpoint"):
with pytest.raises(ValueError, match="requires a PI05-compatible checkpoint"):
RTCProcessor(config)
processor = RTCProcessor(config, trained_mode_supported=True)