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Quick Pi Commands

Location on Pi: ~/EDTH2025/Erewhon/src/robots/rover

🏠 Activate Environment

# Activate virtual environment + set paths
act-env

# Or manually:
cd ~/EDTH2025/Erewhon
source venv/bin/activate
export PYTHONPATH=~/EDTH2025/Erewhon/lerobot/src:$PYTHONPATH

All commands below assume the environment is activated!

🧪 Benchmark Model

cd ~/EDTH2025/Erewhon/src/robots/rover

python src/inference/act_inference_quantized.py \
    --checkpoint models/best_model_static_quantized.pth \
    --benchmark \
    --iterations 1000

Expected:

  • Mean latency: 25-35 ms
  • P95 latency: <50 ms
  • Control rate: 25-30 Hz ✅

📷 Test with Camera

python src/inference/act_inference_quantized.py \
    --checkpoint models/best_model_static_quantized.pth \
    --camera_id 0

Press 'q' to quit.

🚗 Run on RC Car

python src/inference/act_inference_quantized.py \
    --checkpoint models/best_model_static_quantized.pth \
    --camera_id 0 \
    --arduino_port /dev/ttyUSB0 \
    --control_freq 30

🔍 Check Model

# Check model exists and size
ls -lh models/

# Should show: best_model_static_quantized.pth (~85 MB)

🛠️ Troubleshooting

Camera permission

sudo usermod -a -G video $USER
# Then log out and back in

Arduino permission

sudo usermod -a -G dialout $USER
# Then log out and back in

Find camera

ls /dev/video*

Find Arduino

ls /dev/ttyUSB* /dev/ttyACM*

📊 Full Command Reference

See: ~/EDTH2025/Erewhon/DEPLOYMENT.md or development machine docs.