Nepher Robotics

Install Bittensor CLI for wallet operations

pip install bittensor

Create Bittensor wallet (coldkey and hotkey)

btcli wallet new_coldkey --wallet.name miner && btcli wallet new_hotkey --wallet.name miner --wallet.hotkey default

Register miner on Subnet 49

btcli subnet register --wallet.name miner --wallet.hotkey default --netuid 49

Clone tournament task repository and install task module per README

git clone <task-repo-url> && cd <task-repo> && # follow repo README to install task module

Install Nepher CLI and authenticate with API key from https://account.nepher.ai

pip install nepher-cli && npcli login --api-key nepher_xxxxxxxx

Train navigation policy using Isaac Lab training script

${ISAACLAB_PATH}/isaaclab.sh -p scripts/rsl_rl/train.py --task=<train-task> --headless

Copy trained model checkpoint to submission location

cp /path/to/logs/rsl_rl/.../model_best.pt best_policy/best_policy.pt

Validate agent structure before submission

npcli tournament check --path ./my-agent

Submit agent to tournament (can submit multiple times; only latest evaluated)

npcli tournament submit --path ./my-agent --wallet-name miner --wallet-hotkey default

Optional: install eval-nav and nepher for self-evaluation preview(optional)

git clone https://github.com/nepher-ai/eval-nav.git && ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install -e ./eval-nav && ${ISAACLAB_PATH}/isaaclab.sh -p -m pip install nepher

Optional: pre-download benchmark environments for self-evaluation(optional)

npcli envhub download waypoint-benchmark-v1 && npcli envhub download waypoint-sample-v1

Optional: run self-evaluation using exact validator pipeline(optional)

${ISAACLAB_PATH}/isaaclab.sh -p ./eval-nav/scripts/evaluate.py --config eval_config.yaml --headless

Update system packages

sudo apt update && sudo apt upgrade -y && sudo apt install -y git curl wget build-essential

Verify or install NVIDIA drivers (535+ required)

nvidia-smi # if fails, run: sudo apt install -y nvidia-driver-535 && sudo reboot

Install Docker and Docker Compose

curl -fsSL https://get.docker.com -o get-docker.sh && sudo sh get-docker.sh && sudo usermod -aG docker $USER && newgrp docker && sudo apt install -y docker-compose-plugin

Install NVIDIA Container Toolkit for Docker GPU access

distribution=$(. /etc/os-release;echo $ID$VERSION_ID) && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list && sudo apt update && sudo apt install -y nvidia-container-toolkit && sudo nvidia-ctk runtime configure --runtime=docker && sudo systemctl restart docker

Verify Docker GPU access

docker run --rm --gpus all nvidia/cuda:12.1.0-base-ubuntu22.04 nvidia-smi

Create Bittensor wallet, register on Subnet 49, and stake

pip install bittensor && btcli subnet register --wallet.name validator --wallet.hotkey default --netuid 49 && btcli stake add --wallet.name validator --wallet.hotkey default --amount <AMOUNT>

Clone nepher-subnet repository

git clone https://github.com/nepher-ai/nepher-subnet.git && cd nepher-subnet

Copy example configuration files

cp config/docker.env.example .env && cp config/validator_config.example.yaml config/validator_config.yaml

Configure .env with Nepher API key

# Edit .env: set NEPHER_API_KEY=nepher_your_actual_api_key_here (from https://account.nepher.ai)

Configure validator_config.yaml with wallet and API settings

# Edit config/validator_config.yaml: set api_key, wallet name, and hotkey

Build validator and sandbox images (first build ~30-60 min, ~20 GB)

docker compose build

Start validator orchestrator (spawns sandbox containers on demand)

docker compose up -d validator

Monitor validator logs

docker compose logs -f validator

Check validator health status

docker compose ps

Optional: run CPU-only validator (weights-only, no GPU evaluation) on separate machine(optional)

docker compose build validator-cpu && docker compose up -d validator-cpu