mirror of
https://github.com/huggingface/lerobot.git
synced 2026-05-20 19:19:56 +00:00
Steven Palma
ca87ccd941
* feat(scripts): lerobot-rollout * fix(rollout) require dataset in dagger + use duration too * fix(docs): dagger num_episodes * test(rollout): fix expectations * fix(rollout): features check * fix(rollout): device and task propagation + feature pos + warn fps + move rename_map config * docs(rollout): edit rename_map instructions * chore(rollout): multiple minor improvements * chore(rollout): address coments + minor improvements * fix(rollout): enable default * fix(tests): default value RTCConfig * fix(rollout): robot_observation_processor and notify_observation at policy frequency instead of interpolator rate Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> * fix(rollout): prevent relativeactions with sync inference engine Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> * fix(rollout): rtc reanchor to non normalized state Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> * fix(rollout): fixing the episode length to use hwc (#3469) also reducing default length to 5 minutes * feat(rollout): go back to initial position is now a config * fix(rollout): properly propagating video_files_size_in_mb to lerobot_dataset (#3470) * chore(rollout): note about dagger correction stage * chore(docs): update comments and docstring * fix(test): move rtc relative out of rollout module * fix(rollout): address the review comments --------- Co-authored-by: Pepijn <138571049+pkooij@users.noreply.github.com> Co-authored-by: Maxime Ellerbach <maxime.ellerbach@huggingface.co>
56 lines
1.8 KiB
Python
56 lines
1.8 KiB
Python
#!/usr/bin/env python
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# Copyright 2025 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""
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Real Time Chunking (RTC) and Bidirectional Decoding (BID) configuration classes.
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Based on:
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- Real Time Chunking: https://www.physicalintelligence.company/research/real_time_chunking
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"""
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from dataclasses import dataclass
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from lerobot.configs import RTCAttentionSchedule
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@dataclass
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class RTCConfig:
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"""Configuration for Real Time Chunking (RTC) inference.
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RTC improves real-time inference by treating chunk generation as an inpainting problem,
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strategically handling overlapping timesteps between action chunks using prefix attention.
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"""
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# Infrastructure
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enabled: bool = True
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# Core RTC settings
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# Todo change to exp
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prefix_attention_schedule: RTCAttentionSchedule = RTCAttentionSchedule.LINEAR
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max_guidance_weight: float = 10.0
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execution_horizon: int = 10
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# Debug settings
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debug: bool = False
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debug_maxlen: int = 100
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def __post_init__(self):
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"""Validate RTC configuration parameters."""
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if self.max_guidance_weight <= 0:
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raise ValueError(f"max_guidance_weight must be positive, got {self.max_guidance_weight}")
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if self.debug_maxlen <= 0:
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raise ValueError(f"debug_maxlen must be positive, got {self.debug_maxlen}")
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