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36b714d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 | #!/usr/bin/env python3
"""Serve isolated RoboTwin sessions through one shared A100 policy replica."""
import argparse
import json
from pathlib import Path
from hybrid_concurrent_server import ConcurrentHybridPolicyServer
from serve_eval_policy import serve_policy
from eval_model_registry import MODEL_NAMES
def main():
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument('--model', choices=MODEL_NAMES, default='robotwin')
parser.add_argument('--precision', choices=['bf16', 'fp32'], default='fp32')
parser.add_argument('--output', type=Path, required=True)
parser.add_argument('--port', type=int, default=9340)
parser.add_argument('--max-clients', type=int, choices=range(1, 9), default=4)
args = parser.parse_args()
args.output = args.output.resolve()
from deploy import websocket_policy_server
original = websocket_policy_server.WebsocketPolicyServer
class ConfiguredServer(ConcurrentHybridPolicyServer):
def __init__(self, *positional, **kwargs):
super().__init__(*positional, **kwargs, max_clients=args.max_clients,
log_path=args.output / 'hybrid_server_requests.jsonl')
(args.output / 'server_metadata.json').write_text(
json.dumps(self.metadata, indent=2) + '\n')
print(json.dumps({'event': 'hybrid_ready', **self.metadata}), flush=True)
# Preserve the existing strict streaming loader, official FP32 semantics,
# TF32 flags and exactly the same three offline warmup calls.
websocket_policy_server.WebsocketPolicyServer = ConfiguredServer
try:
serve_policy(args)
finally:
websocket_policy_server.WebsocketPolicyServer = original
if __name__ == '__main__':
main()
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