Pepijn 793c7c4ddd feat(runtime): --subtask_chunks_per_gen throttles HL gen vs action chunks ...

Adds a per-chunk-boundary counter to HighLevelSubtaskFwd: subtask gen
fires only once every N chunk boundaries (default 1 = current
behavior). Lets the operator run e.g. 5 flow-matching action chunks
per LM-head subtask gen so the subtask doesn't churn every 1.7s while
the previous one is still being executed — saves compute and avoids
re-planning the action trajectory mid-grasp.

  --subtask_chunks_per_gen=5    # 5 chunks per subtask refresh

The counter starts at 0 so the very first chunk boundary fires
immediately (no startup delay). Trigger is rearmed when skipping so
a low high_level_hz doesn't lose slots.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

2026-05-25 12:34:59 +02:00

..

lerobot

feat(runtime): --subtask_chunks_per_gen throttles HL gen vs action chunks

2026-05-25 12:34:59 +02:00