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name: inference description: "End-to-end Alpamayo R1 multimodal driving inference, sample generation, and troubleshooting." metadata: disco-role: operating disable-model-invocation: true license: Apache 2.0

Alpamayo R1 Inference

Use this sub-skill when the user wants to run, inspect, or adapt the Alpamayo R1 inference path on a PhysicalAI-AV clip.

What this covers

• Load a gated PhysicalAI-AV clip and egomotion history/future.
• Build the multimodal chat prompt from stacked camera frames.
• Load nvidia/Alpamayo-R1-10B on CUDA with the Alpamayo tokenizer and processor.
• Sample future trajectories plus Chain-of-Causation text traces.
• Compare predicted trajectories with ground truth and visualize them in notebook style.
• Troubleshoot HF gating, CUDA OOM, flash-attn / SDPA fallback, device placement, prompt rank, and early t0_us failures.

What this does not cover

• Training, SFT, RL post-training, or repo maintenance.
• Import/export plumbing or package provenance.
• Any workflow that depends on the original checkout at runtime.

Fast route

1. Read references/api-reference.md for the public call contract.
2. Read references/data-formats.md for shapes, frames, and output semantics.
3. Follow references/workflows.md for the end-to-end inference flow and notebook-style visualization.
4. If anything fails, open references/troubleshooting.md.
5. Run scripts/run_inference_smoke.py as the bundled smoke test.

Key defaults

• Default model id: nvidia/Alpamayo-R1-10B
• Default loader history / future / camera settings: 16 steps, 64 steps, 4 cameras
• Default attention path: flash_attention_2
• SDPA is a fallback for flash-attn incompatibility, not a replacement for the CUDA path.

See also

• ../../SKILL.md for the root router
• ../../references/repo-provenance.md
• ../../references/repo-routing-metadata.json
• ../../references/troubleshooting.md for shared Alpamayo R1 troubleshooting
• references/api-reference.md
• references/data-formats.md
• references/workflows.md
• references/troubleshooting.md
• scripts/run_inference_smoke.py