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python -m scripts.agilex_inference \
--use_actions_interpolation \
--pretrained_model_name_or_path="checkpoints/your_finetuned_ckpt.pt" \ # your finetuned checkpoint: e.g., checkpoints/rdt-finetune-1b/checkpoint-<STEP NUMBER>, checkpoints/rdt-finetune-1b/checkpoint-<STEP NUMBER>/pytorch_model/mp_rank_00_model_states.pt,
--lang_embeddings_path="outs/lang_embeddings/your_instr.pt" \
--ctrl_freq=25 # your control frequency
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