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fix rac data collection with rtc by disabling compile

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This commit is contained in:
Pepijn
2026-01-15 17:06:58 +01:00
parent 3316301693
commit d1f50babaa
26 changed files with 553 additions and 20 deletions
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examples/rac/rac_data_collection_openarms_rtc.py
+12 -1
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@@ -130,6 +130,10 @@ class RaCRTCConfig:
resume: bool = False
device: str = "cuda"
action_queue_size_to_get_new_actions: int = 30
# Torch compile is disabled by default for real-time inference
# First inference with compile takes minutes to compile kernels
use_torch_compile: bool = False
def __post_init__(self):
policy_path = parser.get_path_arg("policy")
@@ -735,7 +739,14 @@ def rac_rtc_collect(cfg: RaCRTCConfig) -> LeRobotDataset:
# Load policy
logger.info(f"Loading policy from: {cfg.policy.pretrained_path}")
policy_class = get_policy_class(cfg.policy.type)
policy = policy_class.from_pretrained(cfg.policy.pretrained_path)
# Override compile_model for real-time inference (first compile takes minutes)
policy_config = PreTrainedConfig.from_pretrained(cfg.policy.pretrained_path)
if cfg.policy.type in ["pi05", "pi0"]:
policy_config.compile_model = cfg.use_torch_compile
logger.info(f"Set compile_model={cfg.use_torch_compile} for real-time inference")
policy = policy_class.from_pretrained(cfg.policy.pretrained_path, config=policy_config)
policy.config.rtc_config = cfg.rtc
policy.init_rtc_processor()
policy = policy.to(cfg.device)