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fix(rtc): validate trained prefix capacity

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Pepijn
2026-07-16 12:30:40 +02:00
parent fa477fca5a
commit c395286f3c
10 changed files with 125 additions and 18 deletions
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docs/source/pi052.mdx
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@@ -152,8 +152,9 @@ than `chunk_size`. Choose it to cover the largest inference latency expected at
deployment: at 50 Hz, for example, 10 steps correspond to 200 ms. A delay of
zero is included in the uniform sampling distribution, so the checkpoint also
continues to receive ordinary flow-matching examples. Set rollout's
`inference.rtc.execution_horizon` to at least this maximum so the previous
chunk cache retains enough actions to construct every supported prefix.
`inference.rtc.execution_horizon` and `inference.queue_threshold` to at least
this maximum so inference starts early enough and the previous chunk retains
every action needed for the committed prefix.
Run the resulting checkpoint with the asynchronous `lerobot-rollout` backend
and select the trained-prefix path explicitly: