# X-VLA Deploy & Evaluation Commands

## 1. Start the Model Server

```bash
# Run this from /home/xuan/x-vla-backup

python -m deploy \
    --model_path runnings/roboreal_study/ckpt-50000 \
    --host 127.0.0.1 \
    --port 8010 \
    --output_dir /tmp/xvla-robotwin-server \
    --device auto \
    --disable_slurm


python -m deploy \
    --model_path /home/apexs/xuan/project/X-VLA/running/robotwin-full/ckpt-50000 \
    --host 127.0.0.1 \
    --port 8010 \
    --output_dir /tmp/xvla-robotwin-server
```
```bash
python -m deploy \
    --model_path /home/apexs/xuan/project/X-VLA/running/customized_0315/ckpt-50000 \
    --host 127.0.0.1 \
    --port 8010 \
    --output_dir /tmp/xvla-robotwin-server
```

## 2. Run Evaluation Client

### Environment Setup

```bash
source "$(conda info --base)/etc/profile.d/conda.sh"
conda activate robotwin
```

### Option A: Original Benchmark

```bash
export ROBOTWIN_ROOT=/home/apexs/xuan/project/robotwin_bench/customized_robotwin
export ROBOTWIN_BENCH_TASK=original
export ROBOTWIN_TASK_CONFIG_PATH=$ROBOTWIN_ROOT/task_config
```

### Option B: Customized Benchmark

```bash
export ROBOTWIN_ROOT=/home/apexs/xuan/project/robotwin_bench/customized_robotwin
export BENCH_ROOT=/home/apexs/xuan/project/robotwin_bench/benchmark
export ROBOTWIN_BENCH_TASK=bench
export BENCH_TASK_CONFIG_PATH=$BENCH_ROOT/bench_task_config
export ROBOTWIN_TASK_CONFIG_PATH=$ROBOTWIN_ROOT/task_config
```

### Launch Evaluation

```bash
ROBOTWIN_ROOT=/home/xuan/xuan/robotwin_bench/customized_robotwin \
BENCH_ROOT=/home/xuan/xuan/robotwin_bench/benchmark \
ROBOTWIN_BENCH_TASK=bench \
BENCH_TASK_SUBDIR=study \
BENCH_TASK_CONFIG_PATH=/home/xuan/xuan/robotwin_bench/benchmark/bench_task_config \
ROBOTWIN_TASK_CONFIG_PATH=/home/xuan/xuan/robotwin_bench/customized_robotwin/task_config \
CUDA_VISIBLE_DEVICES=1 python /home/xuan/xuan/x-vla-backup/evaluation/robotwin-2.0/client.py \
    --host 127.0.0.1 \
    --port 8010 \
    --eval_log_dir /home/xuan/xuan/x-vla-backup/evaluation/robotwin-2.0/logs/demo-clean \
    --num_episodes 10 \
    --device 1 \
    --seed 0 \
    --task_name all \
    --output_path /home/xuan/xuan/x-vla-backup/evaluation/robotwin-2.0/logs/demo-clean \
    --task_config bench_demo_clean
```

```bash
python /home/apexs/xuan/project/X-VLA/evaluation/robotwin-2.0/client.py \
    --host 127.0.0.1 \
    --port 8010 \
    --eval_log_dir /home/apexs/xuan/project/X-VLA/evaluation/robotwin-2.0/logs/demo-clean \
    --num_episodes 50 \
    --device 1 \
    --seed 0 \
    --task_name all \
    --output_path /home/apexs/xuan/project/X-VLA/evaluation/robotwin-2.0/logs/demo-clean \
    --task_config demo_clean
```

```bash
CUDA_VISIBLE_DEVICES=1 python /home/apexs/xuan/project/X-VLA/evaluation/robotwin-2.0/client_customized_robotwin.py \
    --host 127.0.0.1 \
    --port 8010 \
    --eval_log_dir /home/apexs/xuan/project/X-VLA/evaluation/robotwin-2.0/logs/bench-demo-clean_0315 \
    --num_episodes 10 \
    --device 0 \
    --seed 0 \
    --task_name place_phone_shelf \
    --output_path /home/apexs/xuan/project/X-VLA/evaluation/robotwin-2.0/logs/bench-demo-clean_0315 \
    --task_config bench_demo_clean

CUDA_VISIBLE_DEVICES=1 python /home/apexs/xuan/project/X-VLA/evaluation/robotwin-2.0/client_customized_robotwin.py \
    --host 127.0.0.1 \
    --port 8010 \
    --eval_log_dir /home/apexs/xuan/project/X-VLA/evaluation/robotwin-2.0/logs/bench-demo-clean_0317 \
    --num_episodes 20 \
    --device 0 \
    --seed 0 \
    --task_name mouse_on_pad \
    --output_path /home/apexs/xuan/project/X-VLA/evaluation/robotwin-2.0/logs/bench-demo-clean_0317 \
    --task_config bench_demo_clean
```