Physicalai Train Adding A Policy

Adding a Studio Policy

Policies live in library/src/physicalai/policies/<name>/. Each family is a Lightning-facing Policy wrapping a torch.nn.Module Model, split across three files. Base classes are in policies/base/ (Policy in policy.py, Model in model.py); shared Config / FromConfig types come from Runtime (physicalai.config) — see docs/how-to/config/use-from-config.md and docs/explanation/configuration.md in the physicalai repo.

Workflow

1. Read a nearby family first. Study policies/pi05/ (current reference implementation): config.py (Pi05Config(Config)), model.py (Pi05Model(Model)), policy.py (Pi05(ExportablePolicyMixin, Policy)), preprocessor.py, and any extra modules the architecture needs (e.g. pi_gemma.py). For a deliberately minimal family, policies/act/ is a smaller three-file layout without the VLM stack.

   • Done when: you can name which existing file each new file mirrors.

2. Create the three-file split in policies/<name>/:

   • config.py — <Name>Config(Config), all hyperparameters as typed fields.
   • model.py — <Name>Model(Model), pure torch.nn.Module logic.
   • policy.py — <Name>(Policy) (add ExportablePolicyMixin only when export is implemented).
   • Done when: from physicalai.policies.<name> import <Name>, <Name>Config, <Name>Model imports cleanly.

3. Implement the policy interface used by both training and inference through the base Policy:

   • forward(...) — training path; return values compatible with training_step.
   • predict_action_chunk(...) — inference path; return a tensor with the configured action horizon.
   • select_action(...) — use base-class action-queue behavior unless a specialized flow is justified.
   • Done when: shapes match the checks below for a synthetic batch.

4. Register the family so both API and CLI users can find it:

   • Add exports to policies/__init__.py (__all__ and imports, e.g. <Name>, <Name>Config, <Name>Model).
   • Add the lowercase name to the get_physicalai_policy_class(...) / get_policy(...) dispatch in policies/__init__.py.
   • Done when: from physicalai.policies import <Name>, get_policy works, get_policy("<name>") returns an instance, and --model physicalai.policies.<Name> resolves.

5. Prove direct API construction before adding CLI config:

   from physicalai.policies import get_policy
   
   policy = get_policy("<name>")
   

   • Done when: direct construction, config round-trip, and synthetic forward(...) / predict_action_chunk(...) shape checks pass.

6. Add a training config in library/configs/physicalai/<name>.yaml when the policy is user-facing from the CLI. Wire model.class_path, a data.class_path (usually physicalai.data.lerobot.LeRobotDataModule), and trainer.*. Mirror configs/physicalai/pi05.yaml.

   • Done when: physicalai fit --config configs/physicalai/<name>.yaml --trainer.fast_dev_run=true completes one step.

7. Wire export only when ready. Add ExportablePolicyMixin and a valid sample input, then follow the physicalai-train-exporting-and-validating skill. If export is intentionally unsupported, say so explicitly in the policy docstring.

8. Add tests under library/tests/unit/policies/ next to existing policy tests: at least one construction/config path and one shape-validation test.

   • Done when: uv run --no-sync pytest tests/unit/policies -k <name> passes.

9. Update docs if the policy is user-visible: library/docs/explanation/policy/ and any config/API examples.

Required checks

Account for every item below (not just "looks fine"):

• Action shape semantics — batch, horizon/chunk length, and action dimension are correct and unchanged from the family's convention.
• Observation features — feature names align with dataset/config conventions (data/observation.py: Feature, FeatureType).
• API construction path — imports, get_policy(...), direct constructor use, and synthetic shape checks pass without CLI involvement.
• Config path — construction works through the jsonargparse CLI path used by physicalai fit (class_path/init_args) when the policy is CLI-visible.
• Heavy dependencies — gate large families behind an optional extra in library/pyproject.toml and import lazily, matching pi05/pi0/groot/smolvla.
• No silent contract changes — do not alter action dims, feature names, or preprocessing without coordinating export/Runtime.

Verify

From library/:

uv run --no-sync pytest tests/unit/policies -k <name>
physicalai fit --config configs/physicalai/<name>.yaml --trainer.fast_dev_run=true
prek run --all-files library/

References

• references/base-classes.md — the Policy/Model contract and file-split expectations.