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70651b8 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 | # folding-final-handler
Custom HuggingFace Inference Endpoint handler that serves the
[`lerobot-data-collection/folding_final`](https://huggingface.co/lerobot-data-collection/folding_final)
π₀.₅ policy for bimanual OpenArm cloth-folding.
Weights are *not* duplicated into this repo — `handler.py` pulls them
from the upstream repo at container cold-start via
`huggingface_hub.snapshot_download`.
## Wire format
POST JSON to the endpoint URL with header `Authorization: Bearer hf_…`:
```json
{
"inputs": {
"images": {
"left_wrist": "<base64 JPEG>",
"right_wrist": "<base64 JPEG>",
"base": "<base64 JPEG>"
},
"state": [16 floats],
"prompt": "fold the towel"
}
}
```
Response:
```json
{
"actions": [[16 floats] × 30],
"chunk_len": 30,
"action_dim": 16,
"action_feature_names": ["right_joint_1.pos", ..., "left_gripper.pos"]
}
```
State + action layout matches
`folding_final.config.action_feature_names`: right joints 1–7, right
gripper, left joints 1–7, left gripper.
## Why this repo exists
To keep the deployed endpoint code under our control without duplicating
~8 GB of safetensors. handler.py is the only thing that ever changes.
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