Load the pi0.5 policy at the size it runs at - #871
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The two vocabulary heads no action chunk reads are dropped, and a checkpoint is built in host memory so what reaches the GPU is what runs there. On the shipped Kinova checkpoint the server holds 8593 MiB where it held 10103. An int8 knob in vla_serving.yaml holds the language backbone and the vision tower at eight bits, taking that to 5375 MiB for 0.14s per 50-step chunk against 0.13s, both inside the real-time budget at 10 fps. /health reports which of the two is running. What eight bits costs in success rate is unmeasured on this checkpoint. Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01JFNEZkKa2NN7LMWbzM37Nq
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The two vocabulary heads no action chunk reads are dropped, and a checkpoint is built in host memory so what reaches the GPU is what runs there. On the shipped Kinova checkpoint the server holds 8593 MiB where it held 10103.
An int8 knob in vla_serving.yaml holds the language backbone and the vision tower at eight bits, taking that to 5375 MiB for 0.14s per 50-step chunk against 0.13s, both inside the real-time budget at 10 fps. /health reports which of the two is running. What eight bits costs in success rate is unmeasured on this checkpoint.