实现行为树执行器、任务协调和技能接口

robobrain/robot_robobrain/model_adapter.py

@@ -0,0 +1,17 @@
+"""Adapter for the inference(prompt, image, task=...) API shown in module DR.
+
+loader is a deployment-pinned callable returning the already loaded model.
+No guessed vendor import, checkpoint download, remote code execution flag or CUDA map.
+"""
+import importlib
+
+def create(config):
+    module,name=config['loader'].split(':',1)
+    model=getattr(importlib.import_module(module),name)(config['model'])
+    def infer(request):
+        capability=request['capability']
+        task=config.get('task_mapping',{}).get(capability)
+        if task is None:raise ValueError('capability has no validated model task mapping')
+        image=request.get('observation',{}).get('image_path')
+        return model.inference(request['prompt'],image,task=task,do_sample=False)
+    return infer