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Exact inference for robot policies. Proprio runs unmodified vision-language-action models (SmolVLA, pi0.5, GR00T) faster and proves every action chunk is bit-identical to the original model, with a verifiable certificate. Robotics inference serving, multi-robot batching, deterministic deployment on NVIDIA GPUs and Jetson.

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ZenEdgeX

Proprio: exact inference for robot policies. Proprio runs unmodified vision-language-action checkpoints faster and verifies every action chunk bit for bit against the original model before serving it. If the actions are not identical, it refuses to deploy. Every run writes a Bitwise Certificate anyone can rerun.

New in 0.1.2: a drop-in for LeRobot async inference. proprio lerobot-server takes the same flags as LeRobot's policy server; the robot client does not change. Against LeRobot's own server on an RTX 4090, same observations and seeds: SmolVLA 20/20 action chunks identical, about 330 ms to 52 ms per chunk; pi0.5 20/20 identical. Guide: https://github.com/zenedgex/proprio-releases/blob/main/LEROBOT.md

Model tick, eager against Proprio, all ticks identical (RTX 4090):

Policy Eager Proprio
lerobot/smolvla_base 232 ms 37–40 ms 5.9–6.3x
lerobot/pi05_base (bf16) 257 ms 97 ms 2.7x
nvidia/GR00T-N1.7-3B 170 ms 64 ms 2.7x
openvla/openvla-7b 209 ms 145 ms (H100: 88 ms) 1.4x (H100: 2.7x)
16 SmolVLA robots per tick 240 ms 19.3 ms per robot 12.5x, every row identical to the robot alone
  • Evaluation wheels, free, no key (Linux x86_64 and aarch64): https://github.com/zenedgex/proprio-releases
  • The certificates and server comparisons behind these numbers: the proprio-certificates dataset in this organization
  • Results: https://zenedgex.in/proprio/
  • Serving: LeRobot async-inference server, openpi-compatible websocket server, proprio doctor to check a machine first

Patent pending. Contact: hello@zenedgex.in

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