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

1. Choose API vs config: Python for notebooks/tests; YAML + physicalai run for reproducible deployment.

   • Done when: entry point matches the user's task.

2. Python minimal loop (see docs/how-to/runtime/run-policy-on-robot.md):

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