Manifest Schema Reference

The on-disk manifest is manifest.json. YAML is shown here for readability.

Top Level

format: policy_package
version: "1.0"
policy: {}
model: {}
hardware: {}

Fields:

Field	Type	Description
format	string	Manifest format, usually policy_package
version	string	Manifest schema version
policy	object	Policy identity and source metadata
model	object	Artifacts and inference pipeline
hardware	object	Expected robot and camera metadata

Policy

policy:
  name: pi05
  source:
    repo_id: physical-ai/example
    class_path: physicalai.policies.pi05.Pi05

Model

model:
  n_obs_steps: 1
  artifacts:
    openvino: model.xml
  runner:
    type: action_chunking
    chunk_size: 50
  preprocessors:
    - type: normalize
      artifact: stats.safetensors
  postprocessors:
    - type: denormalize
      artifact: stats.safetensors

Fields:

Field	Type	Description
n_obs_steps	integer	Observation history length
artifacts	mapping	Logical artifact name to file path
runner	ComponentSpec	Inference runner
preprocessors	list[ComponentSpec]	Preprocessing pipeline
postprocessors	list[ComponentSpec]	Postprocessing pipeline

Hardware

hardware:
  robots:
    - name: main
      type: SO101
      state:
        shape: [6]
        dtype: float32
        order: [shoulder, elbow, wrist, gripper, lift, rotate]
      action:
        shape: [6]
        dtype: float32
  cameras:
    - name: wrist
      shape: [3, 224, 224]
      dtype: uint8

Robot and camera specs are metadata only. The runtime config still selects the concrete hardware classes.