fix rac data collection with rtc by disabling compile

examples/openarms/evaluate.py

@@ -44,13 +44,13 @@ from lerobot.utils.utils import log_say
 from lerobot.utils.visualization_utils import init_rerun
 
 
-HF_MODEL_ID = "lerobot-data-collection/three-folds-pi0"  # TODO: Replace with your trained model
-HF_EVAL_DATASET_ID = "lerobot-data-collection/three-folds-pi0_eval7"  # TODO: Replace with your eval dataset name
-TASK_DESCRIPTION = "three-folds-dataset"  # TODO: Replace with your task, this should match!!
+HF_MODEL_ID = "lerobot-data-collection/level1_rac2_100k"  # TODO: Replace with your trained model
+HF_EVAL_DATASET_ID = "lerobot-data-collection/three-folds-pi0_eval_raccc3"  # TODO: Replace with your eval dataset name
+TASK_DESCRIPTION = "Fold the T-shirt properly" # TODO: Replace with your task, this should match!!
 
 NUM_EPISODES = 1
 FPS = 30
-EPISODE_TIME_SEC = 300
+EPISODE_TIME_SEC = 1000
 RESET_TIME_SEC = 60
 
 # Robot CAN interfaces
@@ -58,15 +58,15 @@ FOLLOWER_LEFT_PORT = "can0"
 FOLLOWER_RIGHT_PORT = "can1"
 
 # If enabled, you can manually reset the environment between evaluation episodes
-USE_LEADER_FOR_RESETS = True  # Set to False if you don't want to use leader
+USE_LEADER_FOR_RESETS = False  # Set to False if you don't want to use leader
 LEADER_LEFT_PORT = "can2"
 LEADER_RIGHT_PORT = "can3"
 
 # Camera configuration
 CAMERA_CONFIG = {
-    "left_wrist": OpenCVCameraConfig(index_or_path="/dev/video5", width=640, height=480, fps=FPS),
-    "right_wrist": OpenCVCameraConfig(index_or_path="/dev/video1", width=640, height=480, fps=FPS),
-    "base": OpenCVCameraConfig(index_or_path="/dev/video3", width=640, height=480, fps=FPS),
+    "left_wrist": OpenCVCameraConfig(index_or_path="/dev/video0", width=1280, height=720, fps=FPS),
+    "right_wrist": OpenCVCameraConfig(index_or_path="/dev/video5", width=1280, height=720, fps=FPS),
+    "base": OpenCVCameraConfig(index_or_path="/dev/video2", width=640, height=480, fps=FPS),
 }
 
 def main():

examples/openarms/evaluate_with_rtc.py

@@ -73,22 +73,22 @@ logger = logging.getLogger(__name__)
 # Default Configuration Constants
 # ============================================================================
 
-DEFAULT_HF_MODEL_ID = "lerobot-data-collection/three-folds-pi0"
-DEFAULT_HF_EVAL_DATASET_ID = "lerobot-data-collection/three-folds-pi0_eval_rtc"
-DEFAULT_TASK_DESCRIPTION = "three-folds-dataset"
+DEFAULT_HF_MODEL_ID = "lerobot-data-collection/level1_rac3_100k"
+DEFAULT_HF_EVAL_DATASET_ID = "lerobot-data-collection/test"
+DEFAULT_TASK_DESCRIPTION = "Fold the T-shirt properly"
 
 DEFAULT_NUM_EPISODES = 1
 DEFAULT_FPS = 30
-DEFAULT_EPISODE_TIME_SEC = 300
+DEFAULT_EPISODE_TIME_SEC = 1000
 DEFAULT_RESET_TIME_SEC = 60
 
 DEFAULT_FOLLOWER_LEFT_PORT = "can0"
 DEFAULT_FOLLOWER_RIGHT_PORT = "can1"
 
 DEFAULT_CAMERA_CONFIG = {
-    "left_wrist": OpenCVCameraConfig(index_or_path="/dev/video5", width=640, height=480, fps=DEFAULT_FPS),
-    "right_wrist": OpenCVCameraConfig(index_or_path="/dev/video1", width=640, height=480, fps=DEFAULT_FPS),
-    "base": OpenCVCameraConfig(index_or_path="/dev/video3", width=640, height=480, fps=DEFAULT_FPS),
+    "left_wrist": OpenCVCameraConfig(index_or_path="/dev/video0", width=1280, height=720, fps=DEFAULT_FPS),
+    "right_wrist": OpenCVCameraConfig(index_or_path="/dev/video4", width=1280, height=720, fps=DEFAULT_FPS),
+    "base": OpenCVCameraConfig(index_or_path="/dev/video2", width=640, height=480, fps=DEFAULT_FPS),
 }
 
 
@@ -141,9 +141,9 @@ class OpenArmsRTCEvalConfig(HubMixin):
     rtc: RTCConfig = field(
         default_factory=lambda: RTCConfig(
             enabled=True,
-            execution_horizon=10,
-            max_guidance_weight=10.0,
-            prefix_attention_schedule=RTCAttentionSchedule.EXP,
+            execution_horizon=20,
+            max_guidance_weight=5.0,
+            prefix_attention_schedule=RTCAttentionSchedule.LINEAR,
         )
     )
 
@@ -167,7 +167,7 @@ class OpenArmsRTCEvalConfig(HubMixin):
     record_dataset: bool = True
     push_to_hub: bool = True
 
-    interpolation: bool = False
+    interpolation: bool = True
 
     use_torch_compile: bool = False
     torch_compile_backend: str = "inductor"

examples/rac/rac_data_collection_openarms_rtc.py

@@ -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)

src/lerobot/robots/openarms/config_openarms_follower.py

@@ -76,6 +76,8 @@ class OpenArmsFollowerConfig(RobotConfig):
     # List of 8 values: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, joint_7, gripper]
     position_kp: list[float] = field(default_factory=lambda: [240.0, 240.0, 240.0, 240.0, 24.0, 31.0, 25.0, 25.0])
     position_kd: list[float] = field(default_factory=lambda: [5.0, 5.0, 3.0, 5.0, 0.3, 0.3, 0.3, 0.3])
+
+    #position_kp: list[float] = field(default_factory=lambda: [200.0, 200.0, 240.0, 200.0, 24.0, 31.0, 25.0, 25.0])
     
     # Damping gains for stability when applying torque compensation (gravity/friction)
     # Used when kp=0 and only torque is applied