| """Turn guided RTC on for a loaded RM65 SmolVLA policy. |
| |
| Does not rewrite the checkpoint. ``num_steps`` and ``rtc_config`` live only on |
| the in-memory config. Relative-action flags are copied from ``config.hub.json`` |
| when the on-disk ``config.json`` lost them. |
| """ |
|
|
| from __future__ import annotations |
|
|
| import json |
| import logging |
| from pathlib import Path |
|
|
| logger = logging.getLogger(__name__) |
|
|
|
|
| def enable_smolvla_rtc( |
| policy, |
| *, |
| num_steps: int = 4, |
| execution_horizon: int = 13, |
| max_guidance_weight: float = 10.0, |
| ckpt_dir: str | Path | None = None, |
| ): |
| """Enable guided RTC and the training-time relative-action postprocess.""" |
| from lerobot.common.policies.rtc.configuration_rtc import RTCConfig |
| from lerobot.configs.types import RTCAttentionSchedule |
|
|
| config = policy.config |
| chunk = int(config.chunk_size) |
| if execution_horizon >= chunk: |
| raise ValueError(f"execution_horizon ({execution_horizon}) must be < chunk_size ({chunk})") |
| if num_steps < 1: |
| raise ValueError(f"num_steps must be positive, got {num_steps}") |
|
|
| hub_path = Path(ckpt_dir) / "config.hub.json" if ckpt_dir else None |
| if hub_path is not None and hub_path.is_file(): |
| hub = json.loads(hub_path.read_text()) |
| if hub.get("use_relative_actions"): |
| config.use_relative_actions = True |
| config.relative_exclude_joints = list(hub.get("relative_exclude_joints") or ["gripper"]) |
|
|
| if int(config.n_action_steps) < chunk: |
| |
| config.n_action_steps = chunk |
| policy.reset() |
|
|
| config.num_steps = int(num_steps) |
| config.rtc_config = RTCConfig( |
| enabled=True, |
| mode="guided", |
| prefix_attention_schedule=RTCAttentionSchedule.EXP, |
| max_guidance_weight=float(max_guidance_weight), |
| execution_horizon=int(execution_horizon), |
| debug=False, |
| ) |
| policy.init_rtc_processor() |
| logger.info( |
| "RTC on: num_steps=%s horizon=%s chunk=%s relative=%s", |
| config.num_steps, |
| config.rtc_config.execution_horizon, |
| chunk, |
| bool(getattr(config, "use_relative_actions", False)), |
| ) |
| return policy |
|
|
