| 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 | |