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fix rtc?

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This commit is contained in:
Maxime Ellerbach
2026-07-20 16:47:20 +00:00
parent 255a01234e
commit a12a0b23ca
1 changed files with 8 additions and 2 deletions
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src/lerobot/policies/fastwam/modeling_fastwam.py
+8 -2
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@@ -86,14 +86,20 @@ class FastWAMPolicy(PreTrainedPolicy):
for layer in mot.layers: for layer in mot.layers:
if "video" in layer.blocks: if "video" in layer.blocks:
layer.blocks["video"].requires_grad_(False) layer.blocks["video"].requires_grad_(False)
self._init_rtc_processor() self.init_rtc_processor()
self.reset() self.reset()
def _init_rtc_processor(self) -> None: def init_rtc_processor(self) -> None:
"""Attach a Real-Time Chunking processor to the core model when configured. """Attach a Real-Time Chunking processor to the core model when configured.
Mirrors the PI0/PI05 pattern: the policy owns the `RTCProcessor` and hands it to Mirrors the PI0/PI05 pattern: the policy owns the `RTCProcessor` and hands it to
the core `FastWAM` model, which consults it inside `infer_action`'s denoising loop. the core `FastWAM` model, which consults it inside `infer_action`'s denoising loop.
Must stay public and named exactly `init_rtc_processor`: the rollout loader
(`lerobot.rollout.context`) sets `policy.config.rtc_config = cfg.inference.rtc` and
then calls `policy.init_rtc_processor()` to (re)build the processor after load, so
`--inference.type=rtc` alone is enough to enable guidance — no separate policy-side
`rtc_config` needed. A private/renamed method would be silently skipped (guidance
off), degrading RTC to unguided async chunk-swapping.
""" """
self.rtc_processor = None self.rtc_processor = None
if self.config.rtc_config is not None: if self.config.rtc_config is not None: