| prompt | STRING | | Natural-language task instruction for the robot. |
| scene_image | IMAGE | | Current frame from the fixed scene camera (tiled left). Resized to 256x256. |
| wrist_image | IMAGE | | Current frame from the wrist camera (tiled right). Resized to 256x256. |
| state | STRING | [-18.94, 134.52, 120.15, 28.3, -32.17, 27.02] | Measured state: shoulder pan, shoulder lift, elbow flex, wrist flex, wrist roll (degrees), gripper (percent). JSON. Required. |
| state_history | STRING | | Measured states at the 7 control ticks (30 Hz) before `state`, oldest first. Requires `command_history`. Omit for a fresh episode. JSON. Empty leaves it out. |
| command_history | STRING | | Absolute commands in effect at each of the 8 observation ticks, oldest first; the last row is the most recent command sent. Requires `state_history`. JSON. Empty leaves it out. |
| num_inference_steps | INT | 41–8 | Euler denoising steps. The checkpoint was validated at 4. |
| guidance_scale | FLOAT | 3.001–10 | Classifier-free guidance on video and action; 1.0 disables CFG. |
| seed | INT | -1-1–2147483647 | Sampling seed. Omit for a random seed; the reference evaluation seed is 0 for DROID and 42 for SO-101. -1 leaves it to the model. |
| history_scene_imageopt | IMAGE | | Scene frame from the oldest history tick (7 ticks before now). Requires `state_history`. Defaults to the current frame. |
| history_wrist_imageopt | IMAGE | | Wrist frame from the oldest history tick. Requires `state_history`. |
| max_cost_usdopt | FLOAT | 20.00–100000 | Safety cap. If the estimated cost of this run is above this many US dollars the node stops BEFORE sending anything to fal. 0 = no cap. |
| reuse_identical_runopt | BOOLEAN | true | If these exact inputs (the settings AND the same pictures/clips/audio) were already paid for and the files are still in output/fal, return them instead of paying again - also after a ComfyUI restart. Turn off for a fresh take with the same settings. |
| extra_jsonopt | STRING | | Advanced: a JSON object merged into the request last, for any fal field this node has no box for. Example: {"seed": 7}. Leave empty normally. |
| max_concurrentopt | INT | 11–32 | How many paid fal calls may run at the same time in one run, across every fal node. 1 (default) = one after another. This node starts its paid part only while fewer than this many fal calls are running. Once any fal node fails, the ones still waiting are not started, so nothing more is billed. |
