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Inference

Run a trained policy on the follower arm. Requires the follower to be calibrated. Teleoperation override is optional if the leader is calibrated and available. 
solo robo --type lerobot --inference

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Interactive flow

  • Reuse saved Inference settings or enter new ones.
  • Validates calibrated follower; optionally enables Teleop override if leader is calibrated.
  • Prompts to authenticate with HuggingFace (required to download remote models).
  • Enter policy_path (HuggingFace model ID or local path), task description, and duration.
  • Set up cameras (optional) and start inference.

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Tips/Notes

  • If Teleop override is enabled, moving the leader arm temporarily overrides the policy.
  • Same keyboard controls apply as in recording (→/←/ESC) for session control.
  • If ports change, the tool can detect new ports and retry once.

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Cameras and ports

  • Ports: Auto-detection works on Windows and Unix. If pyserial is missing, it is installed automatically. If the arm was already connected, you’ll be guided to unplug/replug to identify the correct port.
  • Cameras: Both OpenCV and RealSense cameras are supported. RealSense requires pyrealsense2. You can map each camera to a viewing angle and pick which ones to display during Teleop/Record/Inference.

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Troubleshooting

  • Connection failed / wrong port: The tool will attempt to re-detect ports and retry once. If it still fails, unplug/replug each arm and re-run the mode.
  • Dataset already exists: You will be prompted to resume or rename. Resuming continues appending episodes to the existing dataset.
  • HuggingFace authentication required: Needed for downloading trained policies (Inference) and optionally for pushing datasets/models (Record/Train).
  • Windows symlink warnings: Symlink warnings are suppressed for HF Hub downloads by the tool when needed.
  • No cameras detected: You can proceed without cameras; functionality remains available.