| |
| """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) |
|
|
| |
| |
| websocket_policy_server.WebsocketPolicyServer = ConfiguredServer |
| try: |
| serve_policy(args) |
| finally: |
| websocket_policy_server.WebsocketPolicyServer = original |
|
|
|
|
| if __name__ == '__main__': |
| main() |
|
|
