README: deployment section
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README.md
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@@ -36,6 +36,13 @@ https://github.com/BrianZhengJourney/bread-toaster.
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| Action | `(40, 14)` @30 Hz: per arm `[Δxyz(3, TCP frame), axis-angle Δrot(3), ABSOLUTE gripper target(1)]`, **stepwise-chained**: `delta_k = inv(T_{t+k-1}) @ T_{t+k}`; executor integrates `T_cmd,k = T_cmd,k-1 @ delta_k` starting from `T_current`. SO(3) composition only; denormalize exactly once |
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| Latency | UMI-style: feed the proprio sampled at image exposure time; start executing the chunk at step `ceil(latency × 30 Hz)` |
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## Minimal loading example (openpi, branch `bread-r1`)
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```python
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| Action | `(40, 14)` @30 Hz: per arm `[Δxyz(3, TCP frame), axis-angle Δrot(3), ABSOLUTE gripper target(1)]`, **stepwise-chained**: `delta_k = inv(T_{t+k-1}) @ T_{t+k}`; executor integrates `T_cmd,k = T_cmd,k-1 @ delta_k` starting from `T_current`. SO(3) composition only; denormalize exactly once |
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| Latency | UMI-style: feed the proprio sampled at image exposure time; start executing the chunk at step `ceil(latency × 30 Hz)` |
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## Deployment (recommended: client/server over LAN)
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Robot NUC runs only the pure-CPU `openpi_client`; the model serves from a lab
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GPU workstation (>=16GB VRAM). See **`deploy/serve_bread.sh`** (server, one
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command) and **`deploy/client_example.py`** (the fixed obs-in -> actions-out
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contract for the executor).
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## Minimal loading example (openpi, branch `bread-r1`)
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```python
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