Can PSI0 support 50 Hz recording, training and inference?

[waiyc]

I am currently collecting SONIC teleoperation data at 30 FPS using the PSI0 fork of the GR00T-WholeBodyControl exporter.

The PSI0 training configuration uses:

"action_chunk_size": 30

If I change data collection to 50 FPS, should action_chunk_size remain at 30, or be increased to 50 to preserve a one-second horizon?

Is an end-to-end 50 Hz pipeline—covering data collection, PSI0 training and real-robot inference—currently supported and feasible?

[Yewandou7]

Hi @waiyc,

The reason we use 30 Hz is that the RealSense only runs at 30 Hz. We haven't tested a 50 Hz pipeline, but I think either 30 or 50 should work. Feel free to try it.

Thanks,
Weiduo