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fix(rtc): validate trained prefix capacity

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Pepijn
2026-07-16 12:30:40 +02:00
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docs/source/inference.mdx
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@@ -280,7 +280,7 @@ lerobot-rollout \
| `--inference.rtc.mode` | `guided` (default) or trained-prefix `trained` for compatible Pi052 checkpoints |
| `--inference.rtc.max_guidance_weight` | Consistency enforcement strength (default: varies by policy) |
| `--inference.rtc.prefix_attention_schedule` | Blend schedule: `LINEAR`, `EXP`, `ONES`, `ZEROS` |
| `--inference.queue_threshold` | Max queue size before backpressure (default: 30) |
| `--inference.queue_threshold` | Backpressure threshold; trained RTC requires at least its maximum delay |
See the [Real-Time Chunking](./rtc) guide for details on tuning RTC parameters.