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EmbodiRun

Repository purpose

EmbodiRun is the deployment and execution runtime for embodied AI. It connects robot and simulator observations, inference services, session and step coordination, action validation, and robot-specific motion execution.

It owns robot and simulator observations, HTTP/WirelessComm inference clients, session and step coordination, action validation, robot-specific motion execution, and deployment routing. It does not own model checkpoints, model inference, prompt construction, model frameworks, or model-output parsing.

Do not import runtime code from third_party/embodiinfer into src/embodirun. Communication with EmbodiInfer must go through the versioned HTTP or WirelessComm API.

Project structure

  • src/embodirun/client: public Agent HTTP client and shared transport semantics
  • src/embodirun/deployment: configuration, planning, state, environment/source preparation, and SSH/process lifecycle
  • src/embodirun/application: jobs, authentication, execution coordination, policy proposals, and default runtime loops
  • src/embodirun/devices: connection ownership, shared observations, execution arbitration, and recording
  • src/embodirun/model_services: inference contracts, protocol clients, providers, and launch descriptors
  • src/embodirun/services: CLI/HTTP process entrypoints and compatibility imports for the former layout
  • src/embodirun/robots: robot interfaces and adapters
  • src/embodirun/bindings: policy-to-robot bindings
  • src/embodirun/simulators: simulator adapters
  • tests: unit, boundary, and integration tests
  • agents: optional upper-layer algorithm integrations and software examples, outside the installed core package
  • integrations: separately installed model-service and hardware-owner packages; each package owns its optional SDK dependencies and process entrypoint
  • third_party/embodiinfer: optional pinned source for the first-party inference engine
  • configs: example deployment configurations
  • examples: runnable demo manifests, the shared launcher, and scene implementations
  • benchmarks: measurement programs and their experiment-specific supporting tools
  • docs/en, docs/zh: parallel English and Simplified Chinese documentation; shared assets and the stylesheet stay under docs/

Development commands

Install the package for development:

uv sync --frozen

Run the full test suite:

uv run pytest

Run a specific test file:

uv run pytest tests/<test_file>.py

Repository conventions

  • License: Apache-2.0. See LICENSE, NOTICE, and THIRD_PARTY_NOTICES.md.
  • Support Python 3.10 and newer.
  • Keep robot-specific dependencies optional.
  • Declare dependencies in pyproject.toml.
  • Preserve the separation between generic robot adapters and policy-specific bindings.
  • Keep src/embodirun/services compatibility imports working; new code targets the canonical domains (client, deployment, application, devices, model_services).
  • Do not modify third_party/embodiinfer unless the task explicitly targets the pinned upstream code.
  • Do not perform operations against physical robots unless the user explicitly requests them.