input_mode=compressed_224 Use the participant-kit public image size. OOI and planner internally upscale to 480, while the VLA keeps the original 224 camera images and uses a 224 resize of the OOI crop.
input_mode=native_480 Local-only mode for native 480x480 camera inputs. The public competition contract still uses 224x224, so this is mainly for controlled internal runs.
pipeline_mode=end_to_end Single process with PyTorch OOI/planner plus JAX OpenPI on one GPU.
pipeline_mode=separate_servers Single public Zenoh server, but two internal worker processes:
- PyTorch worker for OOI + checkpoint planner
- JAX worker for OpenPI VLA

Example

powershell

cd E:\Robot-Origami-Challenge\RO-Inference
python .\serve_origami_policy.py `
  --config .\configs\origami_inference.yaml `
  --endpoint tcp/127.0.0.1:7447 `
  --session-id test-session `
  --input-mode compressed_224 `
  --pipeline-mode end_to_end `
  --speed 1.0 `
  --num-sampled-actions 20 `
  --policy-sample-steps 10 `
  --planner-transition-threshold 0.75

Submission bundle checks

Verify that the bundle is fully self-contained and offline-safe:

powershell

cd E:\Robot-Origami-Challenge\RO-Inference
python .\scripts\verify_submission_bundle.py --config .\configs\origami_inference.yaml

This checks:

OOI checkpoint
checkpoint-planner checkpoint
local DINOv3 dinov3-vits16plus-pretrain-lvd1689m
OpenPI checkpoint bundle
paligemma_tokenizer.model
norm_stats.json
origami_tactile_norm_stats.json
that all runtime paths stay inside RO-Inference
that DINO is configured for local offline loading

Submission container

Docker assets are provided in:

Build from the RO-Inference directory as the Docker context:

powershell

cd E:\Robot-Origami-Challenge\RO-Inference
docker build -f .\docker\submission-zenoh-bundled.Dockerfile -t ro-inference-submission .

The container entrypoint requires:

ORIGAMI_ZENOH_ENDPOINT
ORIGAMI_SESSION_ID

Optional startup knobs:

ORIGAMI_SPEED
ORIGAMI_NUM_SAMPLED_ACTIONS
ORIGAMI_PLANNER_TRANSITION_THRESHOLD
ORIGAMI_POLICY_SAMPLE_STEPS
ORIGAMI_INPUT_MODE
ORIGAMI_PIPELINE_MODE

Default submission mode is compressed_224. native_480 remains available as a local debug mode.

huggingaccounttest/RO-50-4eph-trial1-repo

RO-Inference

Model files to place

Runtime modes

Example

Submission bundle checks

Submission container

huggingaccounttest/
RO-50-4eph-trial1-repo