VIM Evaluation
June 9, 2026 ยท View on GitHub
The evaluation script launches the bundled UniVLA/RoboVLMs LIBERO evaluation code with perspective generation enabled.
Example
export LIBERO_ROOT=/path/to/LIBERO
export VIM_CKPT=/path/to/vim/checkpoint
export VISION_HUB=/path/to/Emu3-VisionTokenizer
export VQ_HUB=/path/to/Emu3-Stage1
export ACTION_TOKENIZER_PATH=/path/to/fast
TASK_SUITE_NAME=libero_spatial_occluded bash scripts/eval/eval_vim_libero_occ.sh
TASK_SUITE_NAME=libero_goal_occluded bash scripts/eval/eval_vim_libero_occ.sh
TASK_SUITE_NAME=libero_object_occluded bash scripts/eval/eval_vim_libero_occ.sh
TASK_SUITE_NAME=libero_10_occluded bash scripts/eval/eval_vim_libero_occ.sh
Useful Variables
| Variable | Default | Meaning |
|---|---|---|
TASK_SUITE_NAME | libero_goal_occluded | LIBERO-Occ suite to evaluate |
GPUS_PER_NODE | 8 | Number of GPUs for torchrun |
NUM_TRIALS_PER_TASK | 1 | Trials per task instance |
CAMERA_RESOLUTION | 200 | LIBERO camera resolution |
PERSPECTIVE_OBS_KEY | robot0_eye_in_hand_image | Complementary view used for debug/reference |
CACHE_ROOT | logs/libero_occ_eval/... | Output/cache directory |