# DreamZero-DROID deploy: TP=1, CFG parallel size=2.

pipeline: dreamzero
async_chunk: false
distributed_executor_backend: mp
dtype: bfloat16

stages:
  - stage_id: 0
    devices: "0,1"
    max_num_seqs: 1
    enforce_eager: false
    model_class_name: DreamZeroPipeline
    # DreamZero runs on the AR-Diffusion engine (engine-level paged KV cache).
    engine_backend: vllm_omni.experimental.ar_diffusion.engine.ARDiffusionEngine
    parallel_config:
      tensor_parallel_size: 1
      cfg_parallel_size: 2
    model_config:
      default_robot_embodiment: roboarena
      policy_server_config:
        image_resolution: [180, 320]
        n_external_cameras: 2
        needs_wrist_camera: true
        needs_stereo_camera: false
        needs_session_id: true
        action_space: joint_position
    cache_backend: step_cache
    cache_config:
      step_cache_dit_enabled: true
      velocity_sim_thresholds: [0.95, 0.93]
      velocity_skip_countdowns: [4, 2]