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lz15254123876/
RoboChallengeInference-PI0

Name: RoboChallengeInference-PI0
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RoboChallengeInference

Project Structure

- RoboChallengeInference/
    - README.md
    - requirements.txt
    - demo.py
    - test.py  # Main test entry script
    - robot/
        - __init__.py
        - interface_client.py
        - job_worker.py
    - mock_server
        - mock_rc_robot.py
        - mock_robot_server.py
        - mock_settings.py
        - utils.py
    - utils/
        - __init__.py
        - enums.py
        - log.py
        - util.py

User Guide

1. Installation

bash

# Clone the repository and checkout the specified branch
git clone https://github.com/RoboChallenge/RoboChallengeInference.git
cd RoboChallengeInference

# (Recommended) Create and activate a virtual environment to avoid polluting your global Python environment
python -m venv venv
source venv/bin/activate

# Install dependencies
pip install -r requirements.txt

2. Checkout & Modification

bash

# Checkout
git checkout -b my-feature-branch
# Follow the instructions in demo.py to modify parameters and implement your custom inference logic based on DummyPolicy.

3. Test

bash

# Open the mock_settings.py file and set the ROBOT_TAG and RECORD_DATA_DIR variables according to your robot and data directory requirements.
# Notes:
#   Only one pair of ROBOT_TAG and RECORD_DATA_DIR should be active at a time.
#   Ensure that the RECORD_DATA_DIR path matches the structure of your data folder.
#   You can find the appropriate ROBOT_TAG in your training data or on our website.
# Start the test service
python3 mock_robot_server.py
# Use test.py for testing; it will automatically invoke the mock interface to help you debug your model
# Replace {your_args} with the actual parameters you want to test, for example: --checkpoint xxx.
python3 test.py {your_args}

PI0 inference arguments

demo.py now contains a PI0/OpenPI inference policy. The default backend expects the same OpenPI runtime used for training to be installed in the environment.

Local mock test:

bash

python3 test.py \
  --checkpoint /path/to/checkpoint \
  --pi0_config your_training_config_name \
  --prompt "your task instruction" \
  --input_preset auto \
  --action_type joint

Run for RoboChallenge evaluation:

bash

python3 demo.py \
  --user_token <your_user_token> \
  --submission_id <submission_id> \
  --checkpoint /path/to/checkpoint \
  --pi0_config your_training_config_name \
  --prompt "your task instruction" \
  --input_preset auto \
  --action_type joint

Useful options:

--action_type: use joint for Aloha dual-arm; use leftjoint or leftpos for Arx5/Ur5/Franka single-arm robots.
--image_type: comma-separated camera list, default is high,left_hand,right_hand.
--action_horizon: how many model actions to post each inference step, default is 8.
--max_delta: optional per-step action clamp; 0 disables it.
--backend identity: repeats the current robot state as actions. Use this only for API/shape testing, not evaluation.
--backend custom --custom_policy my_pkg.policy:create_policy: use your own factory if your PI0 training code is not OpenPI-compatible.

4. Submit

Log in to RoboChallenge Web
Submit an evaluation request
On the "My Submission" page, you can view your submissions. Click "Detail" to see more information about a submission.
The Run ID displayed on the details page will be required for the evaluation process.

5. Execute

Wait for a notification (on the website or via email) indicating that your task has been assigned.
Ensure the modified code from the previous steps is actively running during the assigned period.
After the task is completed, the program will exit normally. If you encounter any issues or exceptions, please feel free to contact us.

6. Result

Once your task has been executed, you can view the results by visiting the "My Submissions" page on the website.

Key API Parameter Descriptions

This is the direct interface for the robot. The base URL is /api/robot/<id>/direct. For example, if the robot ID is 1, the full URL to get the state is /api/robot/1/direct/state.pkl.

Sync Clock

Endpoint: /clock-sync
Method: GET

Request Parameters

None

Response Example

json

{
  "timestamp": 0.0
}

Response Fields

Field	Type	Description
timestamp	float	unix timestamp on the robot

Get State

Endpoint: /state.pkl
Method: GET

Request Parameters

Parameter	Type	Required	Default	Description
width	integer	No	224	Width of the image
height	integer	No	224	Height of the image
image_type	list of str	Yes	None	Camera positions; can be one or more of `left_hand`, `right_hand`, `high`
action_type	str	Yes	None	Control mode; must be `joint` or `pos`, and can optionally be concatenated with `left` or `right`. All possible options are `joint`, `pos`, `leftjoint`, `leftpos`, `rightjoint`, `rightpos`. The value should remain consistent during a job. Usually this is consistent with the parameter in Post Action. See the Robot specific Notes section for detailed information.

Additional notes on camera positions:

For a dual-arm robot, left_hand and right_hand refer to the cameras mounted on the left and right arms, respectively. The high camera is positioned above the robot, providing a top-down view of the workspace.

For a single-arm robot, left_hand always refers to the camera mounted on the arms. right_hand is on the opposite side of the robot, and high is on the right side of the robot.

Some single-arm robots may lack cameras on the arm or right side. left_hand or right_hand are not available for those robots. See the Robot specific Notes section for detailed information.

Response Example

The response is a pickle file containing a dictionary with the following structure:

python

{
    "state": 'normal',
    "timestamp": 0.0,
    "pending_actions": 10,
    "action": [0.0, 0.0, ..., 0.0],
    "images": {
        "high": b'PNG',
        "left_hand": b'PNG',
        "right_hand": b'PNG'
    }
}

Response Fields

Field	Type	Description
state	string	Robot state. Should be `normal` if the robot is operational. If the value is `fault` or `abnormal`, there is an issue with the robot. If the value is `size_none`, the request parameter `image_type` or `action_type` is missing.
timestamp	float	Unix timestamp on the robot
pending_actions	integer	Number of pending actions in the queue
action	list of float	Current robot joint or position values. If `action_type` in the request contains `joint`, the joint values will be returned. If it contains `pos`, the tool end positions will be returned. If it contains `left` or `right`, only the values for the left or right arm will be returned. If neither is specified, values for both arms will be returned. For example, if the robot is Aloha with two arm, the list consists with `[joints of left arm, gripper of left arm, joints of right arm, gripper of right arm]`. See the Robot specific Notes section for detailed information.
images	dict	Dictionary of images. Only includes camera positions specified in the `image_type` request parameter.
images.high	bytes	PNG image bytes, if present
images.left_hand	bytes	PNG image bytes, if present
images.right_hand	bytes	PNG image bytes, if present

Post Action

Endpoint: /action
Method: POST

Request Parameters

Parameter	Type	Required	Default	Description
action_type	str	Yes	None	Control mode. All possible options are `joint`, `pos`, `leftjoint`, `leftpos`, `rightjoint`, `rightpos`. The value should remain consistent during a job. See the Robot specific Notes section for detailed information.

The HTTP body should be a JSON object with the following structure:

json

{
  "actions": [
    [
      0.0,
      0.0
    ],
    [
      0.0,
      0.0
    ],
    [
      0.0,
      0.0
    ]
  ],
  "duration": 0.0
}

Field	Type	Description
actions	2D float list	Target joint or position values. If `action_type` in the request contains `joint`, the target values control the robot joints. If it contains `pos`, the tool end positions will be controlled. If it contains `left` or `right`, only the left or right arm will be controlled. If neither is specified, both arms will be controlled. The shape of the array is (number of actions, target values per action). For example, if you are using ALOHA and `action_type` is `joint`, then the shape of the actions array should be (N, 14): 6 joints and 1 gripper per arm, N is the number of steps your model infers. See the Robot specific Notes section for detailed information.
duration	float	Duration (second) per action

Response Example

json

{
  "result": "success",
  "message": ""
}

Response Fields

Field	Type	Description
result	string	Result of the request. Only `success` or `error` will be returned.
message	string	Reason for `error` result, if any. possible message: the robot is not running (fault or logging), the action shape is wrong, action queue is full, other exception

Robot specific Notes

Different robots have different action shapes and camera placement.

Aloha
- Dual-arm robot
- 7 DOF per arm (6 joints + 1 gripper)
- Joint control:
  - one arm(left or right): 7 numbers total: [6 joints, 1 gripper]
  - two arms: 14 numbers total: [left 6 joints, left 1 gripper, right 6 joints, right 1 gripper]
- Pose control
  - one arm(left or right): 8 numbers total: [x, y, z, quaternion(xyzw), gripper]
  - two arms: 16 numbers total: [left x, left y, left z, left quaternion(xyzw), left gripper, right x, right y, right z, right quaternion(xyzw), right gripper]
- 3 cameras: mounted on left/right arm, and on the top of the robot
Arx5
- Single-arm robot
- 7 DOF (6 joints + 1 gripper)
- Joint control: 7 numbers total: [6 joints, 1 gripper]
- Pose control: 7 numbers total: [x, y, z, roll, pinch, yaw, gripper]
- You must always use left in the action_type parameter, e.g., leftjoint or leftpos.
- 3 cameras: mounted on the arm, opposite to the arm, and on the right side of the arm
Ur5
- Single-arm robot
- 7 DOF (6 joints + 1 gripper)
- Joint control: 7 numbers total: [6 joints, 1 gripper]
- Pose control: 8 numbers total: [x, y, z, quaternion(xyzw), gripper]
- You must always use left in the action_type parameter, e.g., leftjoint or leftpos.
- 2 cameras: mounted on the arm, and opposite to the arm
Franka
- Single-arm robot
- 8 DOF (7 joints + 1 gripper)
- Joint control: 8 numbers total: [7 joints, 1 gripper]
- Pose control: 8 numbers total: [x, y, z, quaterion(xyzw), gripper]
- You must always use left in the action_type parameter, e.g., leftjoint or leftpos.
- 3 cameras: mounted on the arm, opposite to the arm, and on the right side of the arm

Contact

For official inquiries or support, you can reach us via:

GitHub Issues: https://github.com/RoboChallenge/RoboChallengeInference/issues
Reddit: https://www.reddit.com/r/RoboChallenge/
Discord: https://discord.gg/8pD8QWDv
X (Twitter): https://x.com/RoboChallengeAI
HuggingFace: https://huggingface.co/RoboChallenge
GitHub: https://github.com/RoboChallenge
Support Email: support@robochallenge.ai

lz15254123876/RoboChallengeInference-PI0

RoboChallengeInference

Project Structure

User Guide

1. Installation

2. Checkout & Modification

3. Test

PI0 inference arguments

4. Submit

5. Execute

6. Result

Key API Parameter Descriptions

Sync Clock

Request Parameters

Response Example

Response Fields

Get State

Request Parameters

Response Example

Response Fields

Post Action

Request Parameters

Response Example

Response Fields

Robot specific Notes

Contact

lz15254123876/
RoboChallengeInference-PI0