Inference API Reference

`InferenceModel`

python

InferenceModel(
    export_dir: str | Path,
    policy_name: str | None = None,
    backend: str = "auto",
    device: str = "auto",
    runner: InferenceRunner | None = None,
    preprocessors: list[Preprocessor] | None = None,
    postprocessors: list[Postprocessor] | None = None,
    callbacks: list[Callback] | None = None,
    **adapter_kwargs,
)

The model can be constructed directly from an export directory or loaded from config.

Constructors

python

model = InferenceModel.load("./exports/act_policy")

Note: InferenceModel.from_config() is a planned API.

Methods

`select_action`

python

action = model.select_action(observation)

This method returns one action.

`predict_action_chunk`

python

chunk = model.predict_action_chunk(observation)

This method returns a chunk of actions for runtime queueing.

`reset`

python

model.reset()

This method clears the runner state and the action cursor.

`close`

python

model.close()

This method releases backend resources.

Observation

Observations are dictionaries of NumPy arrays.

python

observation = {
    "state": joint_positions,
    "image.wrist": wrist_image,
}

The expected keys and shapes come from the exported package and its preprocessing pipeline.