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

starvla_inference_server.py

@@ -111,14 +111,14 @@ class StarvlaInferenceServer:
             actions = actions.cpu().numpy()
 
         if actions.ndim == 3:
-            actions = actions[0] # (8, 7)
+            actions = actions[0] # (16, 10)
         return {"ee_delta_position_chunks": actions[:, :3].tolist(), 
-                "ee_delta_euler_xyz_chunks": actions[:, 3:6].tolist(),
-                "gripper_chunks": actions[:, 6:7].tolist()}
+                "ee_delta_rot6d_chunks": actions[:, 3:9].tolist(),
+                "gripper_chunks": actions[:, 9:10].tolist()}
 
     def register_routes(self):
 
-        @self.app.route("/policy", methods=["POST"])
+        @self.app.route("/policy/inference", methods=["POST"])
         def policy():
             try:
                 data = pickle.loads(request.data)
@@ -136,6 +136,11 @@ class StarvlaInferenceServer:
                     mimetype="application/octet-stream",
                     status=500,
                 )
+        @self.app.route("/policy/health", methods=["GET"])
+        def health():
+            if self.model is None:
+                return Response("Failed to load model", mimetype="application/json", status=500)
+            return Response("OK", mimetype="application/json")
 
     def run(self):