Services and deployment

Each backend runs in its own Python environment. This lets the agent reuse robotics capabilities without combining incompatible simulator, Torch, or Transformers dependencies into one installation.

Configure a deployment

Global configuration lives in ~/.pi/agent/embodied.json. A project’s .pi/embodied.json overrides it. PI_EMBODIED_CONFIG selects a different global configuration file.

Example profile — replace the paths and endpoints for your machine:

{
  "deployments": {
    "gpu-box": {
      "services": {
        "sam3": "http://127.0.0.1:18300",
        "ik": "http://127.0.0.1:18500"
      },
      "python": {
        "default": "/home/me/RoboAgentLab/services/.venv-libero/bin/python",
        "maniskill": "/home/me/RoboAgentLab/services/.venv-maniskill/bin/python"
      },
      "services_dir": "/home/me/RoboAgentLab/services",
      "dirs": {"logs": "/data/roboagentlab/logs"},
      "cuda_device": "1"
    }
  }
}

Select it with --deployment gpu-box and inspect it with /embodied-config.

Start or attach

Robot extensions can start their environment server from the configured services checkout. --env-url attaches to an existing server. Model services have separate endpoints.

--serve-models vla,sam3,molmo requests automatic startup of those model services. To attach to a service already running on its port, configure the endpoint and omit the corresponding automatic-start request.

The services communicate through JSON RPC at POST /call, with health and lifecycle operations. See the protocol specification for method contracts and server behavior.

Container deployment

The intended container boundary is one service environment per backend, with checkpoints and datasets mounted separately. The current setup scripts provision virtual environments; prebuilt RoboAgentLab Docker images are not part of the v1.0 release.

Preflight checks

Before starting an episode, run the matching check:

node packages/embodied/src/infra/check.ts libero --units

Inside a robot session, /robot-check checks the active configuration. It reports missing imports, assets, endpoints, and runtime requirements.