serving: unwrap {"method":"infer","obs":...} client payloads - #2
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anthony-liang-tri wants to merge 1 commit into
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serving: unwrap {"method":"infer","obs":...} client payloads#2anthony-liang-tri wants to merge 1 commit into
anthony-liang-tri wants to merge 1 commit into
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openpi-client's WebsocketClientPolicy sends the inference payload wrapped as
{"method": "infer", "obs": {...}} (+ optional "noise"), but the server passed the
raw unpacked message straight to policy.infer(), which expects the bare obs dict.
Unwrap it (preserving noise) so both the yam_eval eval client and
deployment/openpi_bridge.py work against this server.
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What
Unwrap
{"method": "infer", "obs": {...}}-wrapped payloads inWebsocketPolicyServerbefore handing them topolicy.infer().Why
openpi-client'sWebsocketClientPolicysends the inference request wrapped as{"method": "infer", "obs": {...}}(with an optional top-level"noise"), but the server passed the raw unpacked message straight topolicy.infer(), which expects the bare obs dict. Without unwrapping, inference gets a malformed obs. This unwraps it (preservingnoise) so both the yam_eval eval client anddeployment/openpi_bridge.pywork against this server.This has been running as a local patch on the russet YAM rig; upstreaming so it isn't lost on a clean checkout.
Note
+9 lines, backward-compatible (only unwraps when the
method:inferenvelope is present; bare-obs clients unaffected).