| ==================== INFERENCE COMMAND ==================== | |
| cd /home/vcj9002/jianshu/workspace/code_keliang/Robometer/robometer | |
| source .venv/bin/activate | |
| CUDA_VISIBLE_DEVICES=1 uv run python scripts/example_inference_local.py \ | |
| --model-path aliangdw/Robometer-4B \ | |
| --video scripts/example_videos/jaco_play_pick_up_green_cup.mp4 \ | |
| --task "Pick up green cup" \ | |
| --fps 3 \ | |
| --max-frames 512 | |
| ===================== BASELINE COMMAND ==================== | |
| cd /home/vcj9002/jianshu/workspace/code_keliang/Robometer/robometer | |
| source .venv/bin/activate | |
| export ROBOMETER_PROCESSED_DATASETS_PATH=/path/to/processed_datasets | |
| CUDA_VISIBLE_DEVICES=1 uv run python robometer/evals/run_baseline_eval.py \ | |
| reward_model=rbm \ | |
| model_path=aliangdw/Robometer-4B \ | |
| custom_eval.eval_types=[reward_alignment] \ | |
| custom_eval.reward_alignment=[rbm-1m-id] \ | |
| custom_eval.use_frame_steps=true \ | |
| custom_eval.subsample_n_frames=5 \ | |
| custom_eval.reward_alignment_max_trajectories=3 \ | |
| max_frames=4 \ | |
| model_config.batch_size=8 \ | |
| output_dir=./baseline_eval_output/rbm_smoke |