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Signed-off-by: yufoo1 <yufoo1.cs@gmail.com>
This was referenced Nov 2, 2026
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Summary
Add the ActiveVLN serving path required by EmbodiRun Go2 navigation. Each HTTP episode owns recurrent state, rejects out-of-order steps and instruction changes, and supports explicit executed-prefix acknowledgements for overlapping inference. Reset releases only that session. The eager loader preserves checkpoint dtype and the JP5-compatible Transformers profile.
This is the inference-side dependency of BUAA-CI-LAB/EmbodiRun#13. Robot ownership, motion execution and demo pages remain in EmbodiRun; RPent shared-text serving is a separate PR.
Verification
PYTHONPATH=. python -m pytest tests/test_activevln_serving.py tests/test_activevln.py tests/test_activevln_reference_schema.py -q: 26 passed.ruff check embodiinfer testsandruff format --check embodiinfer tests: passed.CUDA_VISIBLE_DEVICES='' PYTHONPATH=. python -m pytest tests/ -q -m 'not gpu': 1149 passed, 61 skipped, 264 deselected, 1 failed. The failure is the existing Pi05gelu_python_tanhTransformers compatibility test; reproduced unchanged on the base-derived checkout with the same environment.git diff --check: passed.No new GPU or physical robot run was performed while reorganizing this PR. Existing Go2 footage is deployment evidence, not a parity check of this refreshed branch.
Boundaries
Policy-specific RGB processing, action parsing and continuation semantics stay under
policies/activevln; session transactions remain engine-owned. No robot, Habitat loop, demo binary or private configuration is included.