Run a Policy

Preview: PolicyRuntime and the CLI are planned APIs. The examples below document the target design.

Use PolicyRuntime to run a trained policy on real hardware. The runtime handles the control loop: reading cameras, building observations, running inference, and sending actions to the robot.

python

from physicalai.inference import InferenceModel
from physicalai.runtime import PolicyRuntime, SyncExecution
from physicalai.robot import SO101
from physicalai.capture import UVCCamera

model = InferenceModel.load("./exports/act_policy")
robot = SO101(port="/dev/ttyACM0")
cameras = {
    "wrist": UVCCamera(device="/dev/video0", width=640, height=480),
}

runtime = PolicyRuntime(
    fps=30,
    robot=robot,
    model=model,
    cameras=cameras,
    execution=SyncExecution(mode="chunk"),
)

runtime.run(duration_s=60)

The equivalent CLI command uses the same runtime configuration.

bash

physicalai run --config runtime.yaml --duration-s 60

The minimal runtime configuration looks like this.

yaml

runtime:
  class_path: physicalai.runtime.PolicyRuntime
  init_args:
    fps: 30
    robot:
      class_path: physicalai.robot.so101.SO101
      init_args:
        port: /dev/ttyACM0
    model:
      class_path: physicalai.inference.InferenceModel
      init_args:
        export_dir: ./exports/act_policy
    cameras:
      wrist:
        class_path: physicalai.capture.UVCCamera
        init_args:
          device: /dev/video0
          width: 640
          height: 480
    execution:
      class_path: physicalai.runtime.SyncExecution
      init_args:
        mode: chunk

At a high level, the runtime loop follows this sequence.

text

read robot observation
read camera frames
build observation dict
run inference
pop one action from chunk
send action to robot
sleep until next tick

Run A Policy

Run a Policy