# Flux 3 Action API

> 카메라 프레임, 관절 상태 및 지시에서 SO-101 팔 동작 청크를 예측하는 로봇 정책 모델

미디어 대신 예측된 `actions`, 제어 주기, 열 레이블 및 새 청크를 요청하기 전에 실행할 선행 단계 수(`execute_steps`)를 포함한 JSON을 반환합니다. 필수 입력은 텍스트 `prompt`(최대 2000자), `scene_image_url`, `wrist_image_url` 및 6개 값으로 구성된 `state`입니다. 선택적 기록 입력(`state_history`, `command_history`, 기록 이미지)은 시간적 맥락을 제공합니다. `num_inference_steps`는 1~8 범위이고 `guidance_scale`은 1~10 범위입니다.

- Model id: `flux-3-action/so101`
- Made by: Black Forest Labs
- Category: Video to Video
- Output: json
- Estimated price per run: $0.003 / run (cheapest run $0.003 (3 API credits))
- Run: `POST https://api.doitong.com/v1/run/flux-3-action/so101`
- Quote: `POST https://api.doitong.com/v1/quote/flux-3-action/so101`
- Docs page: https://doitong.com/ko/developers/models/flux-3-action/so101

## Pricing

Price: **$0.003 / run**. Estimated from the typical cost of one run. The quote is exactly what the run charges.

The full example input below costs $0.003 = 3 API credits (1 request × 3 API credits).

Prices are the upstream price in USD, paid from the API balance in API credits (1000 API credits = 1 USD). `POST https://api.doitong.com/v1/quote/flux-3-action/so101` with the same JSON body returns the exact price for that input; the quote is exactly what a run charges. Invalid input is never charged and failed or canceled requests are refunded automatically.

## Input parameters

| Parameter | Canonical name | Type | Required | Default | Allowed values / range | Description |
|---|---|---|---|---|---|---|
| `prompt` |  | string | yes |  | 1 – 2000 characters | 자연어로 작성한 로봇 작업 지침입니다. |
| `scene_image_url` |  | string (image URL) | yes |  |  | 크기를 256x256으로 조정한 후 고정된 장면 카메라의 현재 프레임을 보여 주는 왼쪽 타일 이미지입니다. |
| `wrist_image_url` |  | string (image URL) | yes |  |  | 현재 손목 카메라 프레임으로, 오른쪽 타일에 배치되고 256x256으로 조정됩니다. |
| `state` |  | array of number | yes |  | 6 – 6 items | 측정된 상태 값입니다. 순서는 어깨 팬 및 리프트, 팔꿈치 굴곡, 손목 굴곡 및 롤이며 모두 도 단위이고, 이어서 그리퍼 위치가 백분율로 표시됩니다. |
| `state_history` |  | array of array of number \| null | no |  | 7 – 7 items | 측정 상태 기록입니다. 새 에피소드에서는 생략하며, 그 외에는 `command_history`가 필요합니다. `state` 직전의 7개 제어 틱에 대한 측정값을 30 Hz에서 시간순으로 제공합니다. |
| `command_history` |  | array of array of number \| null | no |  | 8 – 8 items | `state_history`가 필요한 절대 명령 기록입니다. 가장 최근에 전송된 명령은 마지막 행에 배치합니다. 행은 8개 관측 틱에 걸쳐 시간순으로 이어지며 각 틱에서 적용되는 명령을 지정합니다. |
| `history_scene_image_url` |  | string (image URL) \| null | no |  |  | `state_history`가 필요한 과거 장면 프레임 입력입니다. 생략하면 대신 현재 프레임을 사용합니다. 제공된 프레임은 7틱 전인 가장 이른 기록 관측을 나타냅니다. |
| `history_wrist_image_url` |  | string (image URL) \| null | no |  |  | 가장 이른 기록 틱의 손목 카메라 프레임입니다. `state_history`가 필요합니다. |
| `num_inference_steps` |  | integer | no | `4` | 1 – 8 | Euler 디노이징 단계 수입니다. 체크포인트 검증에는 4단계를 사용했습니다. |
| `guidance_scale` |  | number | no | `3` | 1 – 10 | 동영상과 동작 모두에 적용되는 classifier-free guidance 강도입니다. CFG를 비활성화하려면 1.0으로 설정합니다. |
| `seed` |  | integer \| null | no |  |  | 샘플링 시드입니다. DROID의 참조 평가 설정은 0, SO-101은 42입니다. 지정하지 않으면 시드를 무작위로 선택합니다. |

File parameters (`scene_image_url`, `wrist_image_url`, `history_scene_image_url`, `history_wrist_image_url`) take a public `https://` URL, a `data:` URI up to 10 MB, or the `file_url` of an upload from `POST /files`.

## Example input

Required parameters only:

```json
{
  "prompt": "A red fox trots through fresh snow at sunrise, soft golden light, shallow depth of field",
  "scene_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
  "wrist_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
  "state": [
    -18.94,
    134.52,
    120.15,
    28.3,
    -32.17,
    27.02
  ]
}
```

A fuller example:

```json
{
  "prompt": "A red fox trots through fresh snow at sunrise, soft golden light, shallow depth of field",
  "scene_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
  "wrist_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
  "state": [
    -18.94,
    134.52,
    120.15,
    28.3,
    -32.17,
    27.02
  ]
}
```

## Run it

Set `DOITONG_API_KEY` to a key from https://doitong.com/developers/dashboard#keys. `?wait=20` returns the finished request in the same call when it is ready within 20 seconds; otherwise poll `GET /requests/{id}` (it also accepts `?wait=`), or pass `webhook_url`.

### curl

```bash
# Run the model; wait up to 20 s for the finished result in the same call
curl -X POST "https://api.doitong.com/v1/run/flux-3-action/so101?wait=20" \
  -H "Authorization: Bearer $DOITONG_API_KEY" \
  -H "Content-Type: application/json" \
  -d '{
    "prompt": "A red fox trots through fresh snow at sunrise, soft golden light, shallow depth of field",
    "scene_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
    "wrist_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
    "state": [
      -18.94,
      134.52,
      120.15,
      28.3,
      -32.17,
      27.02
    ]
  }'

# Still "queued" or "running"? Poll with the id from the response:
curl "https://api.doitong.com/v1/requests/REQUEST_ID?wait=20" \
  -H "Authorization: Bearer $DOITONG_API_KEY"
```

### JavaScript

```javascript
const API = "https://api.doitong.com/v1";
const headers = {
  "Authorization": "Bearer " + process.env.DOITONG_API_KEY,
  "Content-Type": "application/json",
};

// Run the model; wait up to 20 s for the finished result in the same call
let res = await fetch(API + "/run/flux-3-action/so101?wait=20", {
  method: "POST",
  headers,
  body: JSON.stringify({
    "prompt": "A red fox trots through fresh snow at sunrise, soft golden light, shallow depth of field",
    "scene_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
    "wrist_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
    "state": [
      -18.94,
      134.52,
      120.15,
      28.3,
      -32.17,
      27.02
    ]
  }),
});
let request = await res.json();
if (!res.ok) throw new Error(request.error.code + ": " + request.error.message);

// Not finished yet: long-poll until it is
while (request.status === "queued" || request.status === "running") {
  res = await fetch(API + "/requests/" + request.id + "?wait=20", { headers });
  request = await res.json();
}
if (request.status !== "succeeded") throw new Error(JSON.stringify(request.error));
console.log(request.outputs.map((o) => o.url), request.cost.credits + " API credits ($" + request.cost.usd + ")");
```

### Python

```python
import os
import requests

API = "https://api.doitong.com/v1"
headers = {"Authorization": "Bearer " + os.environ["DOITONG_API_KEY"]}

payload = {
    "prompt": "A red fox trots through fresh snow at sunrise, soft golden light, shallow depth of field",
    "scene_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
    "wrist_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
    "state": [
        -18.94,
        134.52,
        120.15,
        28.3,
        -32.17,
        27.02,
    ],
}

# Run the model; wait up to 20 s for the finished result in the same call
r = requests.post(API + "/run/flux-3-action/so101", params={"wait": 20}, json=payload, headers=headers)
request = r.json()
if not r.ok:
    raise RuntimeError(request["error"]["code"] + ": " + request["error"]["message"])

# Not finished yet: long-poll until it is
while request["status"] in ("queued", "running"):
    request = requests.get(API + "/requests/" + request["id"], params={"wait": 20}, headers=headers).json()
if request["status"] != "succeeded":
    raise RuntimeError(request["error"])
print([o["url"] for o in request["outputs"]], request["cost"]["credits"], "API credits", "$" + request["cost"]["usd"])
```

### MCP

The MCP server at `https://api.doitong.com/v1/mcp` exposes the tools `search_models`, `get_model`, `quote`, `run`, `get_request`, `cancel_request`, `list_requests`, `create_upload` and `get_account`. A `run` call for this model:

```json
{
  "jsonrpc": "2.0",
  "id": 1,
  "method": "tools/call",
  "params": {
    "name": "run",
    "arguments": {
      "model_id": "flux-3-action/so101",
      "input": {
        "prompt": "A red fox trots through fresh snow at sunrise, soft golden light, shallow depth of field",
        "scene_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
        "wrist_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
        "state": [
          -18.94,
          134.52,
          120.15,
          28.3,
          -32.17,
          27.02
        ]
      },
      "wait_seconds": 20
    }
  }
}
```

## Response

Every call returns a request object. `status` is one of `queued`, `running`, `succeeded`, `failed`, `canceled`. `outputs` lists the generated files with URLs on our storage (kept forever, or 7 days with `?storage=temporary`; `storage` says which); `output` is the model's own result object with the same URLs.

```json
{
  "id": "req_8k2m4q7x1z9c3v5b6n0p2r4t",
  "object": "request",
  "model": "flux-3-action/so101",
  "status": "succeeded",
  "created_at": "2026-10-20T12:00:00Z",
  "started_at": "2026-10-20T12:00:02Z",
  "completed_at": "2026-10-20T12:00:09Z",
  "queue_position": null,
  "cost": {
    "credits": 3,
    "usd": "0.003",
    "charged": 3,
    "refunded": 0
  },
  "input": {
    "prompt": "A red fox trots through fresh snow at sunrise, soft golden light, shallow depth of field",
    "scene_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
    "wrist_image_url": "https://content.doitong.com/images/showcase/v3/gen_fox_cartoon.jpg",
    "state": [
      -18.94,
      134.52,
      120.15,
      28.3,
      -32.17,
      27.02
    ]
  },
  "output": {
    "actions": [
      [
        1.0
      ]
    ],
    "action_labels": [
      "string"
    ],
    "action_hz": 1.0,
    "execute_steps": 1,
    "seed": 42,
    "timings": {}
  },
  "outputs": [
    {
      "type": "file",
      "url": "https://content.doitong.com/dev-api/2026/10/20/req_8k2m4q7x1z9c3v5b6n0p2r4t/0-output.jpeg",
      "content_type": "image/jpeg",
      "file_size": 1843200,
      "stored": true
    }
  ],
  "error": null,
  "metrics": {
    "inference_seconds": 6.8
  },
  "urls": {
    "self": "https://api.doitong.com/v1/requests/req_8k2m4q7x1z9c3v5b6n0p2r4t",
    "cancel": "https://api.doitong.com/v1/requests/req_8k2m4q7x1z9c3v5b6n0p2r4t/cancel"
  }
}
```

### Output fields (`output`)

| Field | Type | Description |
|---|---|---|
| `actions` | array of array of number | 예측된 동작 배열입니다. 시간순 행은 제어 단계를 나타냅니다. 값은 클리핑되지 않으므로 로봇에서 관절, 속도 및 작업 공간 제한을 적용해야 합니다. 30 Hz에서 SO-101은 도 단위의 42x6 절대 명령과 그리퍼 %를 제공하고, 15 Hz에서 DROID는 라디안 단위의 32x8 절대 관절 목표와 그리퍼 닫힘 비율을 제공합니다. |
| `action_labels` | array of string | 동작 열에 해당하는 이름입니다. |
| `action_hz` | number | 동작 행의 제어 주파수입니다. |
| `execute_steps` | integer | 다음 청크를 요청하기 전에 실행할 초기 동작 수입니다. |
| `seed` | integer | 샘플링 중 사용하는 무작위 시드입니다. |
| `timings` | object | 서버의 시간 측정값으로, 초 단위입니다. |

## Related models

- [Flux 3 Draft Enhance](https://doitong.com/developers/models/blackforestlabs/flux-3/draft-enhance.md) (`blackforestlabs/flux-3/draft-enhance`): $3.48 / run
- [Flux 3 Extend Video](https://doitong.com/developers/models/blackforestlabs/flux-3/extend-video.md) (`blackforestlabs/flux-3/extend-video`): from $0.41 / second
- [Flux 3 Extend Video Draft](https://doitong.com/developers/models/blackforestlabs/flux-3/extend-video/draft.md) (`blackforestlabs/flux-3/extend-video/draft`): $0.12 / second
- [Flux 3 FAST Edit Video](https://doitong.com/developers/models/blackforestlabs/flux-3/edit-video.md) (`blackforestlabs/flux-3/edit-video`): $0.03 / second of input video
- [AMT Interpolation](https://doitong.com/developers/models/amt-interpolation.md) (`amt-interpolation`): $0.000575 / second of processing time
- [AnimateDiff Turbo · Video to Video](https://doitong.com/developers/models/fast-animatediff/turbo/video-to-video.md) (`fast-animatediff/turbo/video-to-video`): $0.00125 / second of processing time
- [AnimateDiff · Video to Video](https://doitong.com/developers/models/fast-animatediff/video-to-video.md) (`fast-animatediff/video-to-video`): $0.00125 / second of processing time
- [Auto-Captioner](https://doitong.com/developers/models/auto-caption.md) (`auto-caption`): $0.10 / video

## Links

- HTML page: https://doitong.com/developers/models/flux-3-action/so101
- All models and guides for AI agents: https://doitong.com/developers/llms.txt
- OpenAPI 3.1 with this model's typed request body: https://doitong.com/developers/openapi.json?model=flux-3-action/so101
- Errors: https://doitong.com/developers/docs/errors
- Model details as JSON: https://api.doitong.com/v1/models/flux-3-action/so101