Update benchmark.yaml and inference server: Adjusted benchmark parameters, modified inference server routes, and enhanced policy handling for chunked actions.

benchmark.yaml

@@ -30,8 +30,8 @@ scene:
       - 0.001
       - 0.001
       position:
-      - 0.0
-      - -3.79243
+      - 0.2
+      - -4.15243
       - 0.5
       quaternion:
       - -0.304408012043137
@@ -204,7 +204,8 @@ extension:
         stereotype: starvla
         robot_name: Franka
         sensor_names: [Hand_Camera, Left_Camera, Right_Camera]
-        prompt: pick the cola bottle and place it on the book
+        prompt: pick up the white plug
+        run_trunk_size: 16
 
     recorder:
       enable: false # set to true to record the data
@@ -214,7 +215,7 @@ extension:
       backend_root_path: output://benchmark_record
 
 policy_server:
-  ckpt_path: checkpoints://0309_qwenpi_droid_cola_post/final_model/pytorch_model.pt
+  ckpt_path: checkpoints://0318_qwenpi_droid_pretrain_8node/checkpoints/steps_30000_pytorch_model.pt
   ckpt_source: local
   host: 0.0.0.0
   port: 5000