Interactive Usage

Use the terminal to enter instructions, or the Dashboard to submit tasks and watch planner output, cameras, and actions in a browser. The examples use LIBERO after Quick Start; install other platforms through their environment guides first.

Terminal Interaction (TUI)

Add --interactive (-i) to a task command to enter instructions in the terminal. Use a terminal with interactive input (TTY).

rpent --robot libero --suite libero_10_task --task 0 --seed 1 \
  --planner claude_code --model claude-opus-4-8 --interactive

With claude_code or codex, the first prompt contains the task instruction. Edit it or submit it with Enter. During execution, type a message to guide the agent. Claude Code interrupts the current turn before receiving your message; Codex steers the current turn. Use /help to see commands and /quit, /exit, or /q to end the session.

With the api planner, the selected task starts automatically. After the agent responds, the terminal accepts follow-up instructions with the existing conversation history. Use /exit to close it. For example:

rpent --robot libero --suite libero_10_task --task 0 --seed 1 \
  --planner api --model anthropic:claude-opus-4-8 --interactive

Configure credentials as described in Planner Configuration. --interactive and --dashboard cannot be used together. Single-arm Franka and ordinary dual-arm Franka runs require the plain operator terminal. For interactive dual-arm exploration, follow Dual-Arm Franka.

Dashboard

The Dashboard supports the api, claude_code, and codex planners. Configure --planner and --model on the command line as for a normal run; see Planner Configuration.

Start a Session and Submit a Task

Add --dashboard to start a long-lived local Dashboard Session. It selects an available port and prints the URL in the terminal:

rpent --robot libero --dashboard \
  --planner claude_code --model claude-opus-4-8

Session configuration comes from the command line, and the URL opens directly in the live monitor. After the shared services are ready, start a TaskRun with:

/rpent-task libero_object_swap 2 0

Each TaskRun gets a fresh environment while the VLA and SAM3 services are reused by the Session. Submit a new /rpent-task to start or switch tasks; during a run, normal messages steer the agent and Esc requests an interruption. Press Ctrl+C in the terminal to stop the Session.

--dashboard cannot be combined with --interactive or --env-endpoint. External --vla-endpoint and --sam3-endpoint services remain supported. Use --dashboard-language zh-cn for the Chinese UI.

Inspect Results and End the Session

After a task ends, review the action timeline and video; use the environment guide for its success criterion. The run output reports the artifact directory, including transcript_*.json. Closing the browser does not stop backend services; press Ctrl+C in the launch terminal to end the session.

The default bind address is 127.0.0.1. For remote access, use the SSH forwarding instructions in Remote Services and Parallel Runs.