326aca0a48
* (unscrewing things up) (#2288) * fix: expose a function explicitly building a frame for inference * fix: first make dataset frame, then make ready for inference * fix: reducing reliance on lerobot record for policy's ouptuts too * fix: encapsulating squeezing out + device handling from predict action * fix: remove duplicated call to build_inference_frame and add a function to only perform data type handling (whole conversion is: keys matching + data type conversion) * refactor(envs): add custom-observation-size (#2167) * fix: add MockMotorBus to MockRobot * rl: first drafts * add: all components of HIL SERL * fix: actor block works * fix: less friction, less friction * add: hil-serl complete example * fix: dataset names * fix: restructuring example folder * fix: act works but found bug in how ACT works * fix: same path for both pre and postprocessors * fix: paths * add: example usage for act * add: using ACT example * fix: training examples * fix: using examples * fix: camera index * fix: rename workflows into tutorial so that the path of the files is lerobot/examples/tutorial/... * fix: upload everything in one repo * fix: model name * fix: simplify model path * add: VLAs example --------- Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com> * fix: minor fix using named attributes * fix: change model to act * fix: named attributes for inference frame building * fix: minor fixes to smolvla * fix: small changes to pi0 * remove: old file that should have never been committed (ups sorry sorry) --------- Signed-off-by: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
12 lines
303 B
Python
12 lines
303 B
Python
from lerobot.async_inference.configs import PolicyServerConfig
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from lerobot.async_inference.policy_server import serve
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host = ... # something like "127.0.0.1" if you're exposing to localhost
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port = ... # something like 8080
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config = PolicyServerConfig(
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host=host,
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port=port,
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)
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serve(config)
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