Manual evaluation (per model)

Outline

• π₀.₅ baseline
• MemER
• Symbolic MME-VLA
  • SimpleSG + Oracle
  • SimpleSG + QwenVL
  • SimpleSG + Gemini
  • GroundSG + Oracle
  • GroundSG + QwenVL
  • GroundSG + Gemini
• Perceptual MME-VLA
  • TokenDrop + Context
  • TokenDrop + Modulation
  • TokenDrop + Expert
  • FrameSamp + Context
  • FrameSamp + Modulation
  • FrameSamp + Expert
• Recurrent MME-VLA
  • TTT + Context
  • TTT + Modulation
  • TTT + Expert
  • RMT + Context
  • RMT + Modulation
  • RMT + Expert
• Other Hints

π₀.₅ baseline

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7 --port=8001 policy:checkpoint --policy.dir=runs/ckpts/pi05_baseline/pi05_baseline/79999 --policy.config=pi05_baseline

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8001 --args.policy_name=pi05_baseline --args.model_ckpt_id=79999 --args.no-use-history

MemER

MemER can be viewed as a combined use of symbolic and perceptual memory.

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8002 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/symbolic-grounded-subgoal/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8002 --args.policy_name=symbolic-grounded-subgoal --args.model_ckpt_id=79999  --args.subgoal-type=grounded_subgoal --args.use-memer 

Symbolic MME-VLA

SimpleSG + Oracle

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8003 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/symbolic-simple-subgoal/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8003 --args.policy_name=symbolic-simple-subgoal --args.model_ckpt_id=79999  --args.subgoal-type=simple_subgoal --args.use-oracle 

SimpleSG + QwenVL

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8004 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/symbolic-simple-subgoal/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8004 --args.policy_name=symbolic-simple-subgoal --args.model_ckpt_id=79999  --args.subgoal-type=simple_subgoal --args.use-qwenvl 

SimpleSG + Gemini

Set the GOOGLE_API_KEY environment variable when using Gemini.

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8005 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/symbolic-simple-subgoal/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8005 --args.policy_name=symbolic-simple-subgoal --args.model_ckpt_id=79999  --args.subgoal-type=simple_subgoal --args.use-gemini 

GroundSG + Oracle

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8006 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/symbolic-grounded-subgoal/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8006 --args.policy_name=symbolic-grounded-subgoal --args.model_ckpt_id=79999  --args.subgoal-type=grounded_subgoal --args.use-oracle 

GroundSG + QwenVL

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8007 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/symbolic-grounded-subgoal/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8007 --args.policy_name=symbolic-grounded-subgoal --args.model_ckpt_id=79999  --args.subgoal-type=grounded_subgoal --args.use-qwenvl 

GroundSG + Gemini

Set the GOOGLE_API_KEY environment variable when using Gemini.

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8008 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/symbolic-grounded-subgoal/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8008 --args.policy_name=symbolic-grounded-subgoal --args.model_ckpt_id=79999  --args.subgoal-type=grounded_subgoal --args.use-gemini 

Perceptual MME-VLA

TokenDrop + Context

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8009 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/perceptual-tokendrop-context/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8009 --args.policy_name=perceptual-tokendrop-context --args.model_ckpt_id=79999

TokenDrop + Modulation

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8010 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/perceptual-tokendrop-modul/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8010 --args.policy_name=perceptual-tokendrop-modul --args.model_ckpt_id=79999

TokenDrop + Expert

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8011 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/perceptual-tokendrop-expert/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8011 --args.policy_name=perceptual-tokendrop-expert --args.model_ckpt_id=79999

FrameSamp + Context

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8012 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/perceptual-framesamp-context/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8012 --args.policy_name=perceptual-framesamp-context --args.model_ckpt_id=79999

FrameSamp + Modulation

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8013 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/perceptual-framesamp-modul/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8013 --args.policy_name=perceptual-framesamp-modul --args.model_ckpt_id=79999

FrameSamp + Expert

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8014 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/perceptual-framesamp-expert/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8014 --args.policy_name=perceptual-framesamp-expert --args.model_ckpt_id=79999

Recurrent MME-VLA

TTT + Context

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8015 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/recurrent-ttt-context/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8015 --args.policy_name=recurrent-ttt-context --args.model_ckpt_id=79999

TTT + Modulation

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8016 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/recurrent-ttt-modul/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8016 --args.policy_name=recurrent-ttt-modul --args.model_ckpt_id=79999

TTT + Expert

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8017 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/recurrent-ttt-expert/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8017 --args.policy_name=recurrent-ttt-expert --args.model_ckpt_id=79999

RMT + Context

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8018 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/recurrent-rmt-context/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8018 --args.policy_name=recurrent-rmt-context --args.model_ckpt_id=79999

RMT + Modulation

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8019 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/recurrent-rmt-modul/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8019 --args.policy_name=recurrent-rmt-modul --args.model_ckpt_id=79999

RMT + Expert

# terminal 0
CUDA_VISIBLE_DEVICES=0 uv run scripts/serve_policy.py --seed=7  --port=8020 policy:checkpoint --policy.dir=runs/ckpts/mme_vla_suite/recurrent-rmt-expert/79999 --policy.config=mme_vla_suite

# terminal 1 
micromamba activate robomme
CUDA_VISIBLE_DEVICES=1 python examples/robomme/eval.py --args.model_seed=7 --args.port=8020 --args.policy_name=recurrent-rmt-expert --args.model_ckpt_id=79999

Other Hints

You can evaluate only a subset of tasks:

python examples/robomme/eval.py --args.only_tasks="BinFill,PickXtimes" ...

You can exclude tasks or re-evaluate specific tasks with --args.exclude_tasks and --args.re_eval_tasks. If evaluation is interrupted, rerun python examples/robomme/eval.py; the evaluation will automatically resume.

For scripts/serve_policy.py, you can change --seed and --policy.dir to evaluate different checkpoints and seeds. For examples/robomme/eval.py, --args.policy_name, --args.model_seed, and --args.model_ckpt_id=79999 are used to generate the saved directory names. For example, an evaluation directory structure can be:

runs/evaluation/perceptual-framesamp-modul
├── ckpt60000
│   ├── seed0
│   ├── seed42
│   └── seed7
├── ckpt70000
│   ├── seed0
│   ├── seed42
│   └── seed7
├── ckpt79999
    ├── seed0
    ├── seed42
    └── seed7
...

Then, you can gather results by running uv run scripts/compute_results.py --model_dir perceptual-framesamp-modul --ckpt_list ckpt60000,ckpt70000,ckpt79999 --seed_list seed0,seed42,seed7.