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openapi: 3.1.0
info:
title: LeRobot Arena AI Server
summary: ACT Model Inference Server for Real-time Robot Control
description: "\n ## LeRobot Arena AI Server\n\n This server provides\
\ **ACT (Action Chunking Transformer)** model inference for robotics applications.\n\
\ It uses the LeRobot Arena communication system with multiple rooms per\
\ session for:\n\n ### Core Features:\n - \U0001F3A5 **Multi-camera\
\ support**: Arbitrary number of camera streams with unique names\n - \U0001F916\
\ **Joint control**: Normalized joint value handling (-100 to +100 range)\n \
\ - \U0001F504 **Real-time inference**: Optimized for robotics control loops\n\
\ - \U0001F4CA **Session management**: Multiple concurrent inference sessions\n\
\ - \U0001F6E0️ **Debug endpoints**: Comprehensive monitoring and debugging\
\ tools\n\n ### Communication Architecture:\n 1. **Camera rooms**:\
\ Receives video streams from robot cameras (supports multiple cameras)\n \
\ 2. **Joint input room**: Receives current robot joint positions (**NORMALIZED\
\ VALUES**)\n 3. **Joint output room**: Sends predicted joint commands\
\ (**NORMALIZED VALUES**)\n\n ### Supported Cameras:\n Each camera\
\ stream has a unique name (e.g., \"front\", \"wrist\", \"overhead\") \n \
\ and all streams are synchronized for inference.\n\n ### Joint Value\
\ Convention:\n - All joint inputs/outputs use **NORMALIZED VALUES**\n\
\ - Range: -100 to +100 for most joints, 0 to 100 for gripper\n \
\ - Matches training data format exactly\n\n ### Getting Started:\n \
\ 1. Create a session with your trained ACT model\n 2. Connect your\
\ robot to the generated rooms\n 3. Start inference to begin real-time\
\ control\n "
version: 1.0.0
contact:
name: LeRobot Arena Team
url: https://github.com/huggingface/lerobot
license:
name: Apache 2.0
url: https://www.apache.org/licenses/LICENSE-2.0.html
x-logo:
url: https://huggingface.co/datasets/huggingface/brand-assets/resolve/main/hf-logo.png
altText: LeRobot Logo
paths:
/:
get:
tags:
- Health
summary: Root
description: Health check endpoint.
operationId: root__get
responses:
'200':
description: Successful Response
content:
application/json:
schema: {}
/health:
get:
tags:
- Health
summary: Health Check
description: Detailed health check.
operationId: health_check_health_get
responses:
'200':
description: Successful Response
content:
application/json:
schema: {}
/sessions:
get:
tags:
- Sessions
summary: List Sessions
description: List all sessions.
operationId: list_sessions_sessions_get
responses:
'200':
description: Successful Response
content:
application/json:
schema:
items:
$ref: '#/components/schemas/SessionStatusResponse'
type: array
title: Response List Sessions Sessions Get
post:
tags:
- Sessions
summary: Create Session
description: 'Create a new inference session.
If workspace_id is provided, all rooms will be created in that workspace.
If workspace_id is not provided, a new workspace will be generated automatically.
All rooms for a session (cameras + joints) are always created in the same
workspace.'
operationId: create_session_sessions_post
requestBody:
content:
application/json:
schema:
$ref: '#/components/schemas/CreateSessionRequest'
required: true
responses:
'200':
description: Successful Response
content:
application/json:
schema:
$ref: '#/components/schemas/CreateSessionResponse'
'422':
description: Validation Error
content:
application/json:
schema:
$ref: '#/components/schemas/HTTPValidationError'
/sessions/{session_id}:
get:
tags:
- Sessions
summary: Get Session Status
description: Get status of a specific session.
operationId: get_session_status_sessions__session_id__get
parameters:
- name: session_id
in: path
required: true
schema:
type: string
title: Session Id
responses:
'200':
description: Successful Response
content:
application/json:
schema:
$ref: '#/components/schemas/SessionStatusResponse'
'422':
description: Validation Error
content:
application/json:
schema:
$ref: '#/components/schemas/HTTPValidationError'
delete:
tags:
- Sessions
summary: Delete Session
description: Delete a session.
operationId: delete_session_sessions__session_id__delete
parameters:
- name: session_id
in: path
required: true
schema:
type: string
title: Session Id
responses:
'200':
description: Successful Response
content:
application/json:
schema: {}
'422':
description: Validation Error
content:
application/json:
schema:
$ref: '#/components/schemas/HTTPValidationError'
/sessions/{session_id}/start:
post:
tags:
- Control
summary: Start Inference
description: Start inference for a session.
operationId: start_inference_sessions__session_id__start_post
parameters:
- name: session_id
in: path
required: true
schema:
type: string
title: Session Id
responses:
'200':
description: Successful Response
content:
application/json:
schema: {}
'422':
description: Validation Error
content:
application/json:
schema:
$ref: '#/components/schemas/HTTPValidationError'
/sessions/{session_id}/stop:
post:
tags:
- Control
summary: Stop Inference
description: Stop inference for a session.
operationId: stop_inference_sessions__session_id__stop_post
parameters:
- name: session_id
in: path
required: true
schema:
type: string
title: Session Id
responses:
'200':
description: Successful Response
content:
application/json:
schema: {}
'422':
description: Validation Error
content:
application/json:
schema:
$ref: '#/components/schemas/HTTPValidationError'
/sessions/{session_id}/restart:
post:
tags:
- Control
summary: Restart Inference
description: Restart inference for a session.
operationId: restart_inference_sessions__session_id__restart_post
parameters:
- name: session_id
in: path
required: true
schema:
type: string
title: Session Id
responses:
'200':
description: Successful Response
content:
application/json:
schema: {}
'422':
description: Validation Error
content:
application/json:
schema:
$ref: '#/components/schemas/HTTPValidationError'
/debug/system:
get:
tags:
- Debug
summary: Get System Info
description: Get system information for debugging.
operationId: get_system_info_debug_system_get
responses:
'200':
description: Successful Response
content:
application/json:
schema: {}
/debug/logs:
get:
tags:
- Debug
summary: Get Recent Logs
description: Get recent log entries for debugging.
operationId: get_recent_logs_debug_logs_get
responses:
'200':
description: Successful Response
content:
application/json:
schema: {}
/debug/sessions/{session_id}/reset:
post:
tags:
- Debug
summary: Debug Reset Session
description: Reset a session's internal state for debugging.
operationId: debug_reset_session_debug_sessions__session_id__reset_post
parameters:
- name: session_id
in: path
required: true
schema:
type: string
title: Session Id
responses:
'200':
description: Successful Response
content:
application/json:
schema: {}
'422':
description: Validation Error
content:
application/json:
schema:
$ref: '#/components/schemas/HTTPValidationError'
/debug/sessions/{session_id}/queue:
get:
tags:
- Debug
summary: Get Session Queue Info
description: Get detailed information about a session's action queue.
operationId: get_session_queue_info_debug_sessions__session_id__queue_get
parameters:
- name: session_id
in: path
required: true
schema:
type: string
title: Session Id
responses:
'200':
description: Successful Response
content:
application/json:
schema: {}
'422':
description: Validation Error
content:
application/json:
schema:
$ref: '#/components/schemas/HTTPValidationError'
components:
schemas:
CreateSessionRequest:
properties:
session_id:
type: string
title: Session Id
policy_path:
type: string
title: Policy Path
camera_names:
items:
type: string
type: array
title: Camera Names
default:
- front
arena_server_url:
type: string
title: Arena Server Url
default: http://localhost:8000
workspace_id:
anyOf:
- type: string
- type: 'null'
title: Workspace Id
type: object
required:
- session_id
- policy_path
title: CreateSessionRequest
CreateSessionResponse:
properties:
workspace_id:
type: string
title: Workspace Id
camera_room_ids:
additionalProperties:
type: string
type: object
title: Camera Room Ids
joint_input_room_id:
type: string
title: Joint Input Room Id
joint_output_room_id:
type: string
title: Joint Output Room Id
type: object
required:
- workspace_id
- camera_room_ids
- joint_input_room_id
- joint_output_room_id
title: CreateSessionResponse
HTTPValidationError:
properties:
detail:
items:
$ref: '#/components/schemas/ValidationError'
type: array
title: Detail
type: object
title: HTTPValidationError
SessionStatusResponse:
properties:
session_id:
type: string
title: Session Id
status:
type: string
title: Status
policy_path:
type: string
title: Policy Path
camera_names:
items:
type: string
type: array
title: Camera Names
workspace_id:
type: string
title: Workspace Id
rooms:
additionalProperties: true
type: object
title: Rooms
stats:
additionalProperties: true
type: object
title: Stats
inference_stats:
anyOf:
- additionalProperties: true
type: object
- type: 'null'
title: Inference Stats
error_message:
anyOf:
- type: string
- type: 'null'
title: Error Message
type: object
required:
- session_id
- status
- policy_path
- camera_names
- workspace_id
- rooms
- stats
title: SessionStatusResponse
ValidationError:
properties:
loc:
items:
anyOf:
- type: string
- type: integer
type: array
title: Location
msg:
type: string
title: Message
type:
type: string
title: Error Type
type: object
required:
- loc
- msg
- type
title: ValidationError
securitySchemes:
BearerAuth:
type: http
scheme: bearer
bearerFormat: JWT
ApiKeyAuth:
type: apiKey
in: header
name: X-API-Key
servers:
- url: http://localhost:8001
description: Development server
- url: https://your-production-server.com
description: Production server
tags:
- name: Health
description: Health check and server status endpoints
- name: Sessions
description: Inference session management - create, control, and monitor AI sessions
- name: Control
description: Session control operations - start, stop, restart inference
- name: Debug
description: Debug and monitoring endpoints for system diagnostics
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