physicalai-runtime-running-policy-on-robot

Running a Policy on a Robot

PolicyRuntime (src/physicalai/runtime/runtime.py) owns the control loop; InferenceModel owns policy math. Execution strategy lives under src/physicalai/runtime/execution.py and src/physicalai/runtime/rtc_execution.py. CLI: physicalai run in src/physicalai/cli/run.py instantiates from YAML via jsonargparse.

Workflow

1. Choose API vs config: Python for notebooks/tests; YAML + physicalai run for reproducible deployment.

   • Done when: entry point matches the user's task.

2. Python minimal loop (see docs/how-to/runtime/run-policy-on-robot.md):

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

runtime = PolicyRuntime( fps=30, robot=SO101(port="/dev/ttyACM0"), model=InferenceModel("./exports/act_policy"), cameras={"wrist": UVCCamera(device="/dev/video0", width=640, height=480)}, execution=SyncExecution(), ) with runtime: runtime.run(duration_s=60)

- Done when: components connect and the loop runs in a test or dry-run with fakes.

3. **YAML config** — nest `class_path` / `init_args` for robot, model, cameras, execution; run:

```bash
physicalai run --config runtime.yaml --run.duration_s=60

1. Execution mode — pick sync vs RTC per docs/how-to/runtime/use-execution-modes.md; do not build ad-hoc timing around InferenceModel.select_action when PolicyRuntime should own the queue.
2. Callbacks — register via runtime callback APIs (docs/how-to/runtime/add-runtime-callbacks.md) for telemetry/latency, not inside inference adapters.

Validation loop

uv run pytest tests/unit/runtime/ -q

Use fake robots/cameras from runtime tests when hardware is unavailable.

Required checks

• fps and camera read rates are consistent.
• Action dimensions match robot send_action expectations.
• Config class_path targets are importable without training packages.
• Document breaking changes to runtime config schema in docs/reference/config-schema.md.

References

• docs/how-to/runtime/run-policy-on-robot.md
• docs/how-to/config/write-runtime-config.md