openamrobot-embodied-ai

Embodied AI for OpenAMRobot: episode capture, dataset QA, imitation-learning baselines, evaluation and policy runtime.

Purpose

This repository holds the embodied AI work for OpenAMRobot:

• Episode capture: a ROS 2 recorder. It is a skeleton today and records nothing until the C9 capture topic contract is approved.
• Dataset QA (C10): validation of dataset release entries in datasets/registry.yaml.
• Imitation-learning baseline ACT (C11): planned.
• Evaluation (C14): offline and simulation evaluation, planned.
• Policy runtime: a ROS 2 lifecycle node that runs a policy and publishes base commands. It is a skeleton today.

Current maturity level: Experimental.

Owners

Team: Embodied AI and Data (Division B).

Area	Owner	Reviewer
Repository lead and code owner	Satya Srinivas Anandh (@SatyaA27)	Mohamed Sayed (@panthera-momagdii)
C10 dataset QA	Satya Srinivas Anandh	Mohamed Sayed
C11 ACT baseline	Marcus Andrei Guinto (@4u-79)	Mohamed Sayed
C14 evaluation	owner: to be assigned by Alex	Mohamed Sayed

Code owners are the lead and Mohamed, so a pull request by the lead can still be approved. One approval from either is enough.

Layout

Path	Content
ros2/openamrobot_ai_recorder	Recorder skeleton (ament_python). Validates its configuration, logs the interfaces commit and C9 schema reference, writes no data.
ros2/openamrobot_policy_runner	Policy runner lifecycle node skeleton (ament_python).
python/oa_embodied_ai/dataset_qa	C10 dataset QA and the oa-dataset-qa command.
python/oa_embodied_ai/conversion	README only: capture to LeRobotDataset export, planned.
python/oa_embodied_ai/training	README only: C11 ACT baseline, planned.
python/oa_embodied_ai/evaluation	README only: C14 evaluation, planned.
schemas/dataset_registry.schema.json	Schema for one dataset release entry.
datasets/registry.yaml	Dataset release registry.
tests	Tests for the ROS 2 nodes.
docs/interfaces.md	What this repository consumes and which interfaces are pending.

Boundaries

This repository never contains:

• Message or schema definitions, including C9. These live in openamrobot-interfaces.
• URDF or frames. These live in openamr-platform-sw and openamr-upperbody-sw.
• Safety logic, stop interfaces or motor control. These live in the platform repositories.
• Command arbitration. This is twist_mux in openamr-platform-sw.
• BOM values.
• Copies of project documents.
• Recorded data or model weights.

Data rule

Datasets and model weights live outside Git. Git holds only registry entries in datasets/registry.yaml, each with the commits used during capture and the sha256 of the release. .gitignore excludes dataset data, rosbags, *.mcap, *.pt, *.safetensors and outputs/.

Policy safety rule

The policy runner:

• publishes only through approved command inputs: a geometry_msgs/Twist on the topic set by cmd_vel_topic, intended as a twist_mux input. The topic has no default, so it never points at the motor driver by default. Arm output is not implemented and arm_output_enabled=true is refused.
• refuses motion activation without the approved software stop interface. Its topic, type and asserted field are parameters with no default; when they are unset, the topic has no publisher, or no stop status has been received yet, activation fails.
• stops on stale observations (observation_timeout_s, default 0.2), inference failure or software stop, by publishing a zero Twist and deactivating.
• never downloads model weights at runtime.

Pending interfaces

Interface	Owner repository	Status
C9 capture topics	openamrobot-interfaces	Proposed schema only; capture topics not approved. The recorder writes no data until approval.
Software stop	openamr-platform-sw (PR #35)	Being defined. The runner refuses motion activation until it is configured.
Arm command arbitration	openamrobot-manipulation	Not defined. The runner has no arm output.

Details are in docs/interfaces.md.

Repository map

Concern	Repository
Messages, services, actions, schemas, C9 contract	openamrobot-interfaces
AMR ROS 2 software: navigation, control, drivers, URDF and frames, twist_mux, software stop	openamr-platform-sw
AMR firmware: motor and sensor bridges, safety I/O	openamr-platform-fw
AMR mechanical, electrical, CAD, BOM	openamr-platform-hw
Arm and lift software, MoveIt, upper body URDF and frames	openamr-upperbody-sw
End effector firmware, upper body safety I/O	openamr-upperbody-fw
Lift, plates, wiring, upper body BOM	openamr-upperbody-hw
Arm framework and arm command arbitration	openamrobot-manipulation
Project documentation	openamrobot-docs
Organization policies, contribution rules, CI templates	.github
Episode capture, dataset QA, ACT baseline, evaluation, policy runtime	openamrobot-embodied-ai (this repository)

Build and test

ROS 2 Jazzy packages, built together with openamrobot-interfaces pinned to the commit used in CI:

source /opt/ros/jazzy/setup.bash
colcon build --base-paths ros2 external/openamrobot-interfaces/ros2
source install/setup.bash
colcon test --base-paths ros2 external/openamrobot-interfaces/ros2 \
  --packages-select openamrobot_ai_recorder openamrobot_policy_runner
colcon test-result --verbose
python3 -m pytest tests

Python tooling:

pip install -e "python[test]"
pytest python/tests
oa-dataset-qa datasets/registry.yaml

Contributing

See CONTRIBUTING.md. Every commit must be signed off under the DCO (git commit -s).

License

MIT. See LICENSE.