MaciejBalaNVandHongsheng Liu
05ab509269
Signed-off-by: Maciej Bala <mbala@nvidia.com> Signed-off-by: MaciejBalaNV <mbala@nvidia.com> Co-authored-by: Hongsheng Liu <liuhongsheng4@huawei.com>
50 lines
2.1 KiB
YAML
50 lines
2.1 KiB
YAML
# Cosmos3 policy (DROID) deploy: single diffusion stage serving the OpenPI
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# realtime API (/v1/realtime/robot/openpi).
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#
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# Topology (COSMOS3_POLICY_PIPELINE) is declared in
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# vllm_omni/model_executor/models/cosmos3/pipeline.py. Policy checkpoints share
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# their HF metadata (model_type=cosmos3_omni, model_index.json _class_name=
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# Cosmos3OmniDiffusersPipeline) with the T2I/video Cosmos3 checkpoints, which
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# must keep using the default single-stage diffusion fallback — so this
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# pipeline cannot be auto-detected and must be selected explicitly:
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#
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# vllm serve nvidia/Cosmos3-Nano-Policy-DROID --omni \
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# --deploy-config /absolute/path/to/vllm-omni/vllm_omni/deploy/cosmos3_policy_droid.yaml
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#
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# Per-checkpoint model_config tweaks (e.g. policy_server_config values) can
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# still be layered on top with --stage-overrides; dict overrides deep-merge
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# with this file.
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pipeline: cosmos3_policy
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# async_chunk defaults to True, which the deploy validator rejects for a
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# single-stage pipeline (no next-stage processor). Must be false here.
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async_chunk: false
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distributed_executor_backend: mp
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stages:
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- stage_id: 0
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devices: "0"
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# OpenPI policy serving is one observation -> one action reply.
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max_num_seqs: 1
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model_class_name: Cosmos3OmniDiffusersPipeline
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# JSON prompt formatting is a property of this DROID checkpoint's training
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# recipe, not a generic server default.
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default_sampling_params:
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extra_args:
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format_prompt_as_json: true
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model_config:
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# Policy serving emits robot actions, not text/video; the Cosmos3
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# guardrail stack (gated nvidia/Cosmos-1.0-Guardrail repo) is not part
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# of it. Equivalent to launching with --no-guardrails.
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guardrails: false
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# OpenPI handshake metadata advertised to the robot client. Sent verbatim
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# (the pipeline never reads these); they describe the camera inputs and
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# action space the client must produce for this checkpoint.
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policy_server_config:
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image_resolution: [540, 640]
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n_external_cameras: 2
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needs_wrist_camera: true
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needs_stereo_camera: false
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needs_session_id: true
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action_space: joint_position
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