Enhance benchmark configuration and gripper handling: Added 'ee_link_name' and 'action_frequency' to benchmark.yaml, introduced gripper width mapping in policy, and updated inference server to reflect gripper width in actions.

2026-03-20 23:05:18 +08:00
parent 457c26b868
commit 833ade73fd
4 changed files with 467 additions and 25 deletions
--- a/starvla_inference_server.py
+++ b/starvla_inference_server.py
@@ -114,7 +114,7 @@ class StarvlaInferenceServer:
            actions = actions[0] # (16, 10)
        return {"ee_delta_position_chunks": actions[:, :3].tolist(), 
                "ee_delta_rot6d_chunks": actions[:, 3:9].tolist(),
-                "gripper_chunks": actions[:, 9:10].tolist()}
+                "gripper_width_chunks": actions[:, 9:10].tolist()}

    def register_routes(self):