Janechen525/geoscaffold-pi05-server-rebuttal

pi0.5 + GeoScaffold Docker Server

This public repository contains the self-contained Docker inference server and customer launch scripts for pi0.5 with GeoScaffold visual-token pruning.

The Docker image was validated on an NVIDIA RTX 4090 24GB and is intended for deployment on a single RTX 3090 24GB. Fine-tuned task checkpoints are not included and must be mounted separately.

Files

File	Description
geoscaffold-pi05-server-rebuttal.tar.gz	Docker image, about 5.34 GiB
geoscaffold-pi05-server-rebuttal.tar.gz.sha256	Image checksum
realrobot_docker_bundle.tar.gz	Compose file, launch scripts, and customer README
realrobot_docker_bundle.tar.gz.sha256	Bundle checksum
docs/customer_docker_guide_zh.md	Complete Chinese deployment guide

Image SHA-256:

077769af62ca62c3b4b8034a189649e880ef6c52623f091d64716b5c33fe2d78

Download

wget https://huggingface.co/Janechen525/geoscaffold-pi05-server-rebuttal/resolve/main/geoscaffold-pi05-server-rebuttal.tar.gz
wget https://huggingface.co/Janechen525/geoscaffold-pi05-server-rebuttal/resolve/main/geoscaffold-pi05-server-rebuttal.tar.gz.sha256
wget https://huggingface.co/Janechen525/geoscaffold-pi05-server-rebuttal/resolve/main/realrobot_docker_bundle.tar.gz
wget https://huggingface.co/Janechen525/geoscaffold-pi05-server-rebuttal/resolve/main/realrobot_docker_bundle.tar.gz.sha256

Verify And Start

sha256sum -c geoscaffold-pi05-server-rebuttal.tar.gz.sha256
sha256sum -c realrobot_docker_bundle.tar.gz.sha256

tar -xzf realrobot_docker_bundle.tar.gz
docker load --input geoscaffold-pi05-server-rebuttal.tar.gz

cd realrobot_docker
./run.sh start geoscaffold /absolute/path/to/checkpoint/30000 pi05_real_conveyor 8000

The command loads the checkpoint read-only, starts the openpi WebSocket policy server, and runs three warmup requests. Wait for the final Ready: ws://... line before connecting the robot client.

Runtime Interface

• Inference: openpi WebSocket protocol, for example ws://192.168.1.10:8000
• Health check: http://192.168.1.10:8000/healthz
• Observation: top RGB image, wrist RGB image, 7D state, and task prompt
• Output: (10, 7) action chunk

The server currently has no authentication. Use it only on a trusted private network and do not expose port 8000 to the public internet.

Notes

• Baseline and GeoScaffold use the same fine-tuned checkpoint.
• RTX 3090 and RTX 4090 compilation caches are not interchangeable. Let each GPU complete its own first warmup.
• Upstream openpi, model, and dependency licenses continue to apply. Confirm model-weight usage terms before distributing checkpoints.
• See docs/customer_docker_guide_zh.md for hardware requirements, task configs, troubleshooting, and the real-robot safety checklist.