physicalai-runtime-running-policy-on-robot

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Runs exported policies on hardware with PolicyRuntime, execution modes, and physicalai run. Use when wiring PolicyRuntime, SyncExecution or RTC execution, runtime YAML configs, action queues, runtime callbacks, or docs/how-to/runtime run-policy-on-robot and execution modes.

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Sourceopenvinotoolkit/physicalai

Added on2026-08-20

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npx skill4agent add openvinotoolkit/physicalai physicalai-runtime-running-policy-on-robot

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Running a Policy on a Robot

PolicyRuntime

(

src/physicalai/runtime/runtime.py

) owns the control loop;

InferenceModel

owns policy math. Execution strategy lives under

src/physicalai/runtime/execution.py

and

src/physicalai/runtime/rtc_execution.py

. CLI:

physicalai run

in

src/physicalai/cli/run.py

instantiates from YAML via jsonargparse.

Workflow

Choose API vs config: Python for notebooks/tests; YAML +
```
physicalai run
```
for reproducible deployment.
- Done when: entry point matches the user's task.

Python minimal loop (see

docs/how-to/runtime/run-policy-on-robot.md

):

python

from physicalai.runtime import PolicyRuntime, SyncExecution
from physicalai.inference import InferenceModel
from physicalai.robot import SO101
from physicalai.capture import UVCCamera

runtime = PolicyRuntime(
    fps=30,
    robot=SO101(port="/dev/ttyACM0"),
    model=InferenceModel("./exports/act_policy"),
    cameras={"wrist": UVCCamera(device="/dev/video0", width=640, height=480)},
    execution=SyncExecution(),
)
with runtime:
    runtime.run(duration_s=60)

Done when: components connect and the loop runs in a test or dry-run with fakes.

YAML config — nest

class_path

/

init_args

for robot, model, cameras, execution; run:

bash

physicalai run --config runtime.yaml --run.duration_s=60

Execution mode — pick sync vs RTC per
```
docs/how-to/runtime/use-execution-modes.md
```
; do not build ad-hoc timing around
```
InferenceModel.select_action
```
when
```
PolicyRuntime
```
should own the queue.
Callbacks — register via runtime callback APIs (
```
docs/how-to/runtime/add-runtime-callbacks.md
```
) for telemetry/latency, not inside inference adapters.

Validation loop

bash

uv run pytest tests/unit/runtime/ -q

Use fake robots/cameras from runtime tests when hardware is unavailable.

Required checks

```
fps
```
and camera read rates are consistent.
Action dimensions match robot
```
send_action
```
expectations.
Config
```
class_path
```
targets are importable without training packages.
Document breaking changes to runtime config schema in
```
docs/reference/config-schema.md
```
.

References

docs/how-to/runtime/run-policy-on-robot.md

docs/how-to/config/write-runtime-config.md