Pi0

2026-05-16 00:59:46 +00:00 · 2025-11-07 02:58:38 +07:00
parent ac1816ee9c
commit d10b7787eb
3 changed files with 173 additions and 29 deletions
@@ -25,6 +25,13 @@ Usage:
        --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 \