Available Policy Inference
This page lists the policy inference methods currently supported by LeIsaac.
Depending on your use case, you may need to install additional dependencies to enable inference:
pip install -e "source/leisaac[gr00t]"
pip install -e "source/leisaac[lerobot-async]"
pip install -e "source/leisaac[openpi]"
For each supported policy, we have specified the verified commit. If the corresponding repository is updated, it may cause compatibility issues. If you encounter such cases, feel free to open an issue.
Finetuned gr00t n1.5
Inference Scripts:
python scripts/evaluation/policy_inference.py \
--task=LeIsaac-SO101-PickOrange-v0 \
--eval_rounds=10 \
--policy_type=gr00tn1.5 \
--policy_host=localhost \
--policy_port=5555 \
--policy_timeout_ms=5000 \
--policy_action_horizon=16 \
--policy_language_instruction="Pick up the orange and place it on the plate" \
--device=cuda \
--enable_cameras
Lerobot official policy
We utilize lerobot's async inference capabilities for policy execution. For detailed information, please refer to the official documentation. Prior to execution, ensure that the policy server is running.
python scripts/evaluation/policy_inference.py \
--task=LeIsaac-SO101-PickOrange-v0 \
--policy_type=lerobot-smolvla \
--policy_host=localhost \
--policy_port=8080 \
--policy_timeout_ms=5000 \
--policy_language_instruction='Pick the orange to the plate' \
--policy_checkpoint_path=outputs/smolvla/leisaac-pick-orange/checkpoints/last/pretrained_model \
--policy_action_horizon=50 \
--device=cuda \
--enable_cameras
target commit: https://github.com/huggingface/lerobot/tree/v0.3.3
Finetuned openpi
We utilize openpi's remote inference capabilities for policy execution. For detailed information, please refer to the official documentation. Prior to execution, ensure that the policy server is running.
python scripts/evaluation/policy_inference.py \
--task=LeIsaac-SO101-PickOrange-v0 \
--policy_type=openpi \
--policy_host=localhost \
--policy_port=8000 \
--policy_timeout_ms=5000 \
--policy_language_instruction='Pick the orange to the plate' \
--device=cuda \
--enable_cameras