{
  "schemaVersion": "1.0",
  "datasetVersion": "2026-09-30",
  "name": "LeRobot 推論執行路徑與參數單位矩陣",
  "description": "固定 LeRobot v0.6.1 的同步、Async Policy Server 與 rollout RTC 路徑。僅核對文件與原始碼，不是硬體 benchmark、完整相容性清單或安全驗收。",
  "canonicalPage": "https://aiinfra.tw/guides/lerobot-hardware/#lerobot-runtime-check",
  "sourceRelease": "v0.6.1",
  "sourceCommit": "7e241bd630a3719a56157a497ce5d08f244784f1",
  "sourcePublishedAt": "2026-08-03T14:19:42Z",
  "lastVerified": "2026-09-30",
  "evidenceStatus": "documented_not_hardware_tested",
  "limitations": [
    "支援宣告與呼叫形狀只代表軟體檢查，不能推論特定 checkpoint、Jetson、I/O 或場域已通過。",
    "每條路徑的真機 P99 延遲與任務成功率未測；JSON null 與 CSV 留白不是 0。",
    "開發分支 main 的 trained RTC 新欄位不在 v0.6.1 基準內。",
    "佇列、舊觀察、介入後恢復、斷線與獨立停止仍須實機驗證。"
  ],
  "sources": [
    "https://github.com/huggingface/lerobot/releases/tag/v0.6.1",
    "https://github.com/huggingface/lerobot/blob/7e241bd630a3719a56157a497ce5d08f244784f1/docs/source/inference.mdx",
    "https://github.com/huggingface/lerobot/blob/7e241bd630a3719a56157a497ce5d08f244784f1/docs/source/async.mdx",
    "https://github.com/huggingface/lerobot/blob/7e241bd630a3719a56157a497ce5d08f244784f1/docs/source/rtc.mdx",
    "https://github.com/huggingface/lerobot/blob/7e241bd630a3719a56157a497ce5d08f244784f1/src/lerobot/async_inference/robot_client.py",
    "https://github.com/huggingface/lerobot/blob/7e241bd630a3719a56157a497ce5d08f244784f1/src/lerobot/rollout/inference/rtc.py",
    "https://github.com/huggingface/lerobot/blob/7e241bd630a3719a56157a497ce5d08f244784f1/src/lerobot/rollout/context.py"
  ],
  "records": [
    {
      "id": "rollout-sync",
      "label": "rollout 同步推論",
      "entryPoint": "lerobot-rollout --inference.type=sync",
      "purpose": "建立主迴圈等待推論完成的基準",
      "thresholdParameter": null,
      "thresholdUnit": null,
      "thresholdMeaning": "不使用 Async 或 RTC 的片段佇列門檻",
      "otherParameters": "policy; processor; fps",
      "policyBoundary": "仍需核對所選 policy、processor 與 action representation",
      "sourceUrl": "https://github.com/huggingface/lerobot/blob/7e241bd630a3719a56157a497ce5d08f244784f1/docs/source/inference.mdx",
      "hardwareTested": false,
      "p99LatencyMs": null,
      "taskSuccessRate": null
    },
    {
      "id": "policy-server-async",
      "label": "Policy Server 非同步",
      "entryPoint": "lerobot.async_inference.robot_client + lerobot.async_inference.policy_server",
      "purpose": "分開片段推論與動作執行",
      "thresholdParameter": "chunk_size_threshold",
      "thresholdUnit": "fraction_of_received_chunk",
      "thresholdMeaning": "剩餘動作數除以收到的片段長度不大於門檻時符合送出觀察條件",
      "otherParameters": "actions_per_chunk; aggregate_fn_name; client/server versions",
      "policyBoundary": "ACT 在官方設定範例中，但不是其 rollout RTC 支援證明",
      "sourceUrl": "https://github.com/huggingface/lerobot/blob/7e241bd630a3719a56157a497ce5d08f244784f1/src/lerobot/async_inference/robot_client.py",
      "hardwareTested": false,
      "p99LatencyMs": null,
      "taskSuccessRate": null
    },
    {
      "id": "rollout-rtc",
      "label": "rollout RTC",
      "entryPoint": "lerobot-rollout --inference.type=rtc",
      "purpose": "非同步產生片段並約束重疊區",
      "thresholdParameter": "inference.queue_threshold",
      "thresholdUnit": "action_steps",
      "thresholdMeaning": "剩餘佇列步數不大於門檻時進入片段推論分支",
      "otherParameters": "inference.rtc.execution_horizon (overlap steps); inference_delay (steps)",
      "policyBoundary": "需要 supports_rtc 宣告與 RTC 呼叫形狀；不是所有 policy 通用",
      "sourceUrl": "https://github.com/huggingface/lerobot/blob/7e241bd630a3719a56157a497ce5d08f244784f1/src/lerobot/rollout/inference/rtc.py",
      "hardwareTested": false,
      "p99LatencyMs": null,
      "taskSuccessRate": null
    }
  ]
}