Slave Arm Lagged

[andrew123-q]

Hi,

I come with LeRobot and SO-ARM 101 with one month, found slave arm running lagged (not smoothly) with two senario below:

if I setup camera with 19201080, the slave arm running lagged. Resolution with 640480 is OK.
After training with ACT, during evaluation sessions, the slave arm running lagged.

Please kindly advise me the reason and solutions to fix it. Thanks a lot.

Andy

[andrew123-q]

I use Nvidia Jetson 4012 for evaluation.