Update README.md

README.md

@@ -1,3 +1,38 @@
----
-license: apache-2.0
----
+---
+license: apache-2.0
+---
+
+# RoboDual
+
+This repo contains checkpoints for the specialist policy of our paper: \
+**Towards Synergistic, Generalized and Efficient Dual-System for Robotic Manipulation**
+
+
+## Evaluation with our checkpint
+> First set your ```CALVIN_ROOT``` environment variable wtih:
+```bash
+export CALVIN_ROOT=/path/to/your/calvin_root_path
+```
+- Start evaluation on CALVIN (multi-GPU is also supported):
+```bash
+torchrun --standalone --nnodes 1 --nproc-per-node 1 vla-scripts/evaluate_calvin.py \
+                                 --generalist_path "/path/to/calvin_generalist" \
+                                 --specialist_path "/path/to/calvin_specialist" \
+                                 --with_depth \                 # use depth input
+                                 --with_gripper \               # use gripper-view inputs (both RGB and depth)
+                                 --with_cfg \                   # enable classifier-free guidance
+                                 --log_dir calvin
+```
+> Please refer to ```vla-scripts/evaluate_calvin.py``` in our [github repo](https://github.com/OpenDriveLab/RoboDual) for all evaluation options.
+
+
+## Citation
+If you find our code or models useful in your work, please cite [our paper](https://arxiv.org/abs/2410.08001):
+
+```bibtex
+@article{bu2024robodual,
+  title={Towards Synergistic, Generalized, and Efficient Dual-System for Robotic Manipulation}, 
+  author={Qingwen Bu and Hongyang Li and Li Chen and Jisong Cai and Jia Zeng and Heming Cui and Maoqing Yao and Yu Qiao},
+  journal={arXiv preprint arXiv:2410.08001},
+  year={2024}
+}