---
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}
}