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Merge branch 'main' into feat/RaC

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Signed-off-by: Steven Palma <imstevenpmwork@ieee.org>
This commit is contained in:
Steven Palma
2026-02-23 11:17:37 +01:00
committed by GitHub
parent 1bddfd2cc3 5865170d36
commit fee1934af4
139 changed files with 8465 additions and 1244 deletions
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examples/rtc/eval_dataset.py
+10 -10
View File
@@ -27,8 +27,8 @@ measuring consistency and ground truth alignment.
Usage:
# Basic usage with smolvla policy
uv run python examples/rtc/eval_dataset.py \
--policy.path=helper2424/smolvla_check_rtc_last3 \
--dataset.repo_id=helper2424/check_rtc \
--policy.path=<USER>/smolvla_check_rtc_last3 \
--dataset.repo_id=<USER>/check_rtc \
--rtc.execution_horizon=8 \
--device=mps \
--rtc.max_guidance_weight=10.0 \
@@ -58,16 +58,16 @@ Usage:
--device=cuda
uv run python examples/rtc/eval_dataset.py \
--policy.path=lipsop/reuben_pi0 \
--dataset.repo_id=ReubenLim/so101_cube_in_cup \
--policy.path=<USER>/reuben_pi0 \
--dataset.repo_id=<USER>/so101_cube_in_cup \
--rtc.execution_horizon=8 \
--device=cuda
# 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 \
--policy.path=helper2424/smolvla_check_rtc_last3 \
--dataset.repo_id=helper2424/check_rtc \
--policy.path=<USER>/smolvla_check_rtc_last3 \
--dataset.repo_id=<USER>/check_rtc \
--rtc.execution_horizon=8 \
--device=mps \
--use_torch_compile=true \
@@ -75,8 +75,8 @@ Usage:
# With torch.compile on CUDA (CUDA graphs disabled by default)
uv run python examples/rtc/eval_dataset.py \
--policy.path=helper2424/smolvla_check_rtc_last3 \
--dataset.repo_id=helper2424/check_rtc \
--policy.path=<USER>/smolvla_check_rtc_last3 \
--dataset.repo_id=<USER>/check_rtc \
--rtc.execution_horizon=8 \
--device=cuda \
--use_torch_compile=true \
@@ -84,8 +84,8 @@ Usage:
# Enable CUDA graphs (advanced - may cause tensor aliasing errors)
uv run python examples/rtc/eval_dataset.py \
--policy.path=helper2424/smolvla_check_rtc_last3 \
--dataset.repo_id=helper2424/check_rtc \
--policy.path=<USER>/smolvla_check_rtc_last3 \
--dataset.repo_id=<USER>/check_rtc \
--use_torch_compile=true \
--torch_compile_backend=inductor \
--torch_compile_mode=max-autotune \
examples/rtc/eval_with_real_robot.py
+3 -3
View File
@@ -28,7 +28,7 @@ For simulation environments, see eval_with_simulation.py
Usage:
# Run RTC with Real robot with RTC
uv run examples/rtc/eval_with_real_robot.py \
--policy.path=helper2424/smolvla_check_rtc_last3 \
--policy.path=<USER>/smolvla_check_rtc_last3 \
--policy.device=mps \
--rtc.enabled=true \
--rtc.execution_horizon=20 \
@@ -41,7 +41,7 @@ Usage:
# Run RTC with Real robot without RTC
uv run examples/rtc/eval_with_real_robot.py \
--policy.path=helper2424/smolvla_check_rtc_last3 \
--policy.path=<USER>/smolvla_check_rtc_last3 \
--policy.device=mps \
--rtc.enabled=false \
--robot.type=so100_follower \
@@ -53,7 +53,7 @@ Usage:
# Run RTC with Real robot with pi0.5 policy
uv run examples/rtc/eval_with_real_robot.py \
--policy.path=helper2424/pi05_check_rtc \
--policy.path=<USER>/pi05_check_rtc \
--policy.device=mps \
--rtc.enabled=true \
--rtc.execution_horizon=20 \