diff --git a/pipeline/stages/05_inference.py b/pipeline/stages/05_inference.py
index 274a1ab..05b6369 100644
--- a/pipeline/stages/05_inference.py
+++ b/pipeline/stages/05_inference.py
@@ -32,11 +32,24 @@ import sys
 import time
 from pathlib import Path
 
+import yaml
+
 sys.path.insert(0, str(Path(__file__).parent.parent))
 from orchestrator.db import init_db, get_conn, upsert_job, record_metric, now_iso
 
 PIPELINE_BASE = Path(os.environ.get("COSMA_PIPELINE_BASE", "/home/cosma/cosma-pipeline"))
 
+def _load_inference_cfg() -> dict:
+    """Load inference params from thresholds.yaml, with sane defaults."""
+    cfg_path = Path(__file__).parent.parent / "config" / "thresholds.yaml"
+    try:
+        data = yaml.safe_load(cfg_path.read_text())
+        return data.get("inference", {})
+    except Exception:
+        return {}
+
+_INF_CFG = _load_inference_cfg()
+
 WORKERS = {
     ".84": {
         "host": "192.168.0.84",
@@ -146,19 +159,37 @@ def run_inference(frames_dir: Path, worker_key: str, mission_name: str,
         return metrics
     print(f"  [05] rsync done")
 
-    # Step 2: build demo.py command
+    # Step 2: build demo.py command -- params from thresholds.yaml[inference]
     checkpoint = f"{w['ai_dir']}/checkpoints/lingbot-map/lingbot-map.pt"
+    inf_mode = _INF_CFG.get("mode", "streaming")
+    conf_thr = _INF_CFG.get("ply_conf_threshold", 1.5)
+    kf_interval = _INF_CFG.get("keyframe_interval", 1)
+    max_frames = _INF_CFG.get("max_frame_num", 1024)
+    if inf_mode == "windowed":
+        window_size = _INF_CFG.get("window_size", 64)
+        overlap_size = _INF_CFG.get("overlap_size", 16)
+        mode_flags = (
+            f"--mode windowed "
+            f"--window_size {window_size} "
+            f"--overlap_size {overlap_size} "
+        )
+    else:  # streaming (default, validated GX049839_v2 146M pts)
+        mode_flags = (
+            f"--mode streaming "
+            f"--keyframe_interval {kf_interval} "
+            f"--max_frame_num {max_frames} "
+        )
     demo_cmd = (
         f"cd {w['ai_dir']} && "
         f"{w['venv']} demo.py "
         f"--model_path {checkpoint} "
         f"--image_folder {worker_frames} "
-        f"--mode windowed "
-        f"--window_size 64 "
-        f"--overlap_size 16 "
+        f"{mode_flags}"
+        f"--ply_conf_threshold {conf_thr} "
         f"--save_ply {ply_remote} "
         f"--save_poses {npz_remote} "
         f"--use_sdpa "
+        f"--offload_to_cpu "
         f"2>&1"
     )