---
license: other
language:
  - zh
tags:
  - robotics
  - vision-language-action
  - openpi
  - pi0.5
  - docker
  - geoscaffold
---

# 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:

```text
077769af62ca62c3b4b8034a189649e880ef6c52623f091d64716b5c33fe2d78
```

## Download

```bash
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

```bash
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.