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cleaned up, added docs and a few tests

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Maxime Ellerbach
2026-07-17 15:42:03 +00:00
parent 4ae2fbca36
commit fb8c6ac8b9
4 changed files with 160 additions and 39 deletions
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docs/source/inference.mdx
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@@ -43,7 +43,7 @@ lerobot-rollout \
| ---------------- | ------------------------------------------------------ |
| `--duration` | Run time in seconds (0 = infinite) |
| `--task` | Task description passed to the policy |
| `--display_data` | Stream observations/actions to Rerun for visualization |
| `--display_data` | Stream observations/actions to the visualization backend (`--display_mode`; add `--display_extra_data` for a policy's imagined predictions) |
### Sentry (`--strategy.type=sentry`)
@@ -251,9 +251,12 @@ See the [Real-Time Chunking](./rtc) guide for details on tuning RTC parameters.
| `--duration` | Run time in seconds (0 = infinite) | 0 |
| `--device` | Torch device (`cpu`, `cuda`, `mps`) | auto |
| `--task` | Task description (used when no dataset is provided) | -- |
| `--display_data` | Stream telemetry to Rerun visualization | false |
| `--display_ip` / `--display_port` | Remote Rerun server address | -- |
| `--interpolation_multiplier` | Action interpolation factor | 1 |
| `--display_data` | Stream telemetry to the visualization backend | false |
| `--display_mode` | Visualization backend: `rerun` or `foxglove` | rerun |
| `--display_extra_data` | Also stream a policy's intermediate predictions (e.g. a world model's imagined video) on a dedicated channel; implies `--display_data`, sync inference only | false |
| `--display_compressed_images` | JPEG-compress images before streaming (less bandwidth, more CPU) | false |
| `--display_ip` / `--display_port` | Remote Rerun server address (or bind interface/port for foxglove) | -- |
| `--interpolation_multiplier` | Action interpolation factor (upsamples the control rate) | 1 |
| `--use_torch_compile` | Enable `torch.compile` for inference | false |
| `--resume` | Resume a previous recording session | false |
| `--play_sounds` | Vocal synthesis for events | true |