Model Inference with Web UI

Once your model is trained, you can deploy it on the AI Worker for inference.

Model Deployment and Inference

1. Prepare Your Model

ROBOT PC

Please place your trained model in the following directory:

~/physical_ai_tools/lerobot/outputs/train/

Models trained on the Robot PC using Physical AI Tools are automatically saved to this path. However, if you downloaded the model from a hub or copied it from another PC, you need to move the model to this location.

Available Folder Structures

Please refer to the folder structure tree below:

The following folder structures are all valid (example_model_folder_1, 2, 3).

~/physical_ai_tools/lerobot/outputs/train/
├── example_model_folder_1
│   └── checkpoints/
│       ├── 000250/
│       │   ├── pretrained_model/
│       │   │   ├── config.json
│       │   │   ├── model.safetensors
│       │   │   └── train_config.json
│       │   └── training_state
│       │       ├── optimizer_param_groups.json
│       │       ├── optimizer_state.safetensors
│       │       ├── rng_state.safetensors
│       │       └── training_step.json
│       └── 000500/
│           ├── pretrained_model/
|           │   └─ (...)
│           └── training_state/
|               └─ (...)
├── example_model_folder_2/
│        ├── pretrained_model/
|        |   └─ (...)
│        └── training_state
|            └─ (...)
└── example_model_folder_3/
        ├── config.json
        ├── model.safetensors
        └── train_config.json

TIP

To copy your model from the User PC to the Robot PC, use the following command:

• Change ownership of the model directory.

ROBOT PC (not inside the Docker container)

sudo chown -R robotis ./

• Copy the model from the User PC to the Robot PC using the scp command:

USER PC

scp -r <your model folder's directory> robotis@ffw-<your robot's serial number>.local:~/physical_ai_tools/lerobot/outputs/train

INFO

After placing the model in the above directory, you can access it from within the Docker container at:

/root/ros2_ws/src/physical_ai_tools/lerobot/outputs/train/

2. Launch the ROS 2 Follower Node

WARNING

Please deactivate the ROS 2 teleoperation node launched in the Prerequisites > Launch the ROS 2 teleoperation node section before proceeding.

ROBOT PC

cd ~/ai_worker/docker && ./container.sh enter

ROBOT PC 🐋 AI WORKER

ffw_bg2_follower_ai

3. Run Inference

a. Launch Physical AI Server

WARNING

If the Physical AI Server is already running, you can skip this step.

Enter the Physical AI Tools Docker container:

ROBOT PC

cd ~/physical_ai_tools && ./docker/container.sh enter

Then, launch the Physical AI Server with the following command:

ROBOT PC 🐋 PHYSICAL AI TOOLS

ai_server

b. Open the Web UI

Open your web browser and navigate the Web UI (Physical AI Manager).

(Refer to the Dataset Preparation > Recording > 1. Open the Web UI)

On the Home page, select the type of robot you are using.

c. Enter Task Instruction and Policy Path

Go to the Inference Page.

Enter Task Instruction and Policy Path in the Task Info Panel, located on the right side of the page.

• Task Information Field Descriptions

Item	Description
Task Instruction	A sentence that tells the robot what action to perform, such as "pick and place object".
Policy Path 🐋 PHYSICAL AI TOOLS	The absolute path to your trained model directory inside the Docker container(🐋 PHYSICAL AI TOOLS). This should point to the folder containing your trained model files such as config.json, model.safetensors, and train_config.json. See the Policy Path Example below for reference.

TIP

Entering Policy Path

You can either click the Browse Policy Path button to select the desired model folder, or directly enter the desired path in the text input field.

INFO

Policy Path Example

/root/ros2_ws/src/physical_ai_tools/lerobot/outputs/train/
└── example_model_folder/
         ├── pretrained_model/    # ← This folder contains config.json, model.safetensors, train_config.json
         │   ├── config.json
         │   ├── model.safetensors
         │   └── train_config.json
         └── training_state/
             ├── optimizer_param_groups.json
             ├── optimizer_state.safetensors
             ├── rng_state.safetensors
             └── training_step.json

For a model folder structure like the one above, the Policy Path would be:

/root/ros2_ws/src/physical_ai_tools/lerobot/outputs/train/example_model_folder/pretrained_model/

INFO

Recording during inference will be supported in a future update. Coming soon!

d. Start Inference

To begin inference, use the Control Panel located at the bottom of the page:

• The Start button begins inference.
• The Finish button stops inference.