Daniel-F/dual-expert-pi05-deploy

RTC + B-spline deployment

Real-Time Chunking (arXiv:2506.07339) with B-spline feed-forward velocity.

deploy_rtc_bspline.py   single-file deployment (RTC + bspline)
infer_dual_expert.py    load a checkpoint, run one inference (no hardware)
config.yaml             task registry + rig config

Quick start

export PYTHONPATH=/path/to/RobotTwin-dynamics/policy/pi05_temporal_align/src
export ROBOTWIN_DIR=/path/to/RobotTwin-dynamics

python deploy_rtc_bspline.py --task push_ball_blk --dry-run
python deploy_rtc_bspline.py --task push_ball_blk --bspline

Needs i2rt + pyrealsense2 for hardware. Edit config.yaml for your rig.

B-spline interpolation

deploy_rtc_bspline.py:1681-1704 — fit_bspline_qvel()