intergrate openvla policy and PR

Author: DelinQu

README.md

@@ -1,21 +1,5 @@
 # SimplerEnv: Simulated Manipulation Policy Evaluation Environments for Real Robot Setups + OpenVLA policy
 
-> [!IMPORTANT]
-> This a fork repo from [SimplerEnv](https://github.com/simpler-env/SimplerEnv) with [openvla](https://github.com/openvla/openvla) policy intergration. The evaluation results are not very satisfactory, possibly due to my code implementation and the OpenVLA model itself. I need about one day to complete all the experiments and organize the data before reporting the results. If you have any questions, please feel free to suggest code modifications and raise issues.
-> * the evaluation scripts keep consistent with original repo under ./scripts/
-
-```bash
-openvla_bridge.sh
-openvla_drawer_variant_agg.sh
-openvla_drawer_visual_matching.sh
-openvla_move_near_variant_agg.sh
-openvla_move_near_visual_matching.sh
-openvla_pick_coke_can_variant_agg.sh
-openvla_pick_coke_can_visual_matching.sh
-openvla_put_in_drawer_variant_agg.sh
-openvla_put_in_drawer_visual_matching.sh
-```
-
 [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/simpler-env/SimplerEnv/blob/main/example.ipynb)
 
 ![](./images/teaser.png)

scripts/openvla_bridge.sh

@@ -7,31 +7,30 @@ robot=widowx
 rgb_overlay_path=ManiSkill2_real2sim/data/real_inpainting/bridge_real_eval_1.png
 robot_init_x=0.147
 robot_init_y=0.028
-export DISPLAY=:1.0
-# VK_ICD_FILENAMES=/usr/share/vulkan/icd.d/nvidia_icd.json
-# python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
-#   --robot ${robot} --policy-setup widowx_bridge \
-#   --control-freq 5 --sim-freq 500 --max-episode-steps 60 \
-#   --env-name PutCarrotOnPlateInScene-v0 --scene-name ${scene_name} \
-#   --rgb-overlay-path ${rgb_overlay_path} \
-#   --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
-#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
-#
-# python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
-#   --robot ${robot} --policy-setup widowx_bridge \
-#   --control-freq 5 --sim-freq 500 --max-episode-steps 60 \
-#   --env-name StackGreenCubeOnYellowCubeBakedTexInScene-v0 --scene-name ${scene_name} \
-#   --rgb-overlay-path ${rgb_overlay_path} \
-#   --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
-#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
-#
-# python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
-#   --robot ${robot} --policy-setup widowx_bridge \
-#   --control-freq 5 --sim-freq 500 --max-episode-steps 60 \
-#   --env-name PutSpoonOnTableClothInScene-v0 --scene-name ${scene_name} \
-#   --rgb-overlay-path ${rgb_overlay_path} \
-#   --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
-#   --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
+
+python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
+  --robot ${robot} --policy-setup widowx_bridge \
+  --control-freq 5 --sim-freq 500 --max-episode-steps 60 \
+  --env-name PutCarrotOnPlateInScene-v0 --scene-name ${scene_name} \
+  --rgb-overlay-path ${rgb_overlay_path} \
+  --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
+  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
+
+python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
+  --robot ${robot} --policy-setup widowx_bridge \
+  --control-freq 5 --sim-freq 500 --max-episode-steps 60 \
+  --env-name StackGreenCubeOnYellowCubeBakedTexInScene-v0 --scene-name ${scene_name} \
+  --rgb-overlay-path ${rgb_overlay_path} \
+  --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
+  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
+
+python simpler_env/main_inference.py --policy-model ${policy_model} --ckpt-path ${ckpt_path} \
+  --robot ${robot} --policy-setup widowx_bridge \
+  --control-freq 5 --sim-freq 500 --max-episode-steps 60 \
+  --env-name PutSpoonOnTableClothInScene-v0 --scene-name ${scene_name} \
+  --rgb-overlay-path ${rgb_overlay_path} \
+  --robot-init-x ${robot_init_x} ${robot_init_x} 1 --robot-init-y ${robot_init_y} ${robot_init_y} 1 --obj-variation-mode episode --obj-episode-range 0 24 \
+  --robot-init-rot-quat-center 0 0 0 1 --robot-init-rot-rpy-range 0 0 1 0 0 1 0 0 1;
 
 
 scene_name=bridge_table_1_v2