Policies

Policies run on the server and are selected together with the algorithm.

Quickstart

plugrl-run-server dummy-policy default dummy default
plugrl-run-server dppo-policy default dppo hopper

Verify

Confirm the policy UID is visible in the CLI.

plugrl-run-server --help

Built-in policies

• dummy-policy: random actions for protocol smoke tests
• dppo-policy: DPPO diffusion policy
• fpo-policy: FPO flow-matching policy, used by the get-started run
• pi0-policy: OpenPI policy, requires a checkpoint path

OpenPI example. pi0-policy is a flow policy, so it pairs with fpo or with eval - not with dppo, which expects a diffusion policy.

plugrl-run-server pi0-policy default eval default \
  --policy.name pi05_libero \
  --policy.checkpoint-path /path/to/checkpoint \
  --policy.device cuda

Troubleshooting

• Policy UID not listed: registration module was not imported.
• OpenPI import fails: complete the OpenPI local setup in the server repo.

Next steps

• Custom policy
• DPPO policies