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1# Mutli-GPU evaluation is supported
2torchrun --standalone --nnodes 1 --nproc-per-node 8 experiments/robot/calvin/run_calvin_eval_ddp.py \
3 --calvin_root /path/to/yout/calvin_root_path \
4 --action_decoder_path /path/to/your/action_decoder.pt \
5 --pretrained_checkpoint /path/to/your/calvin_finetuned_univla \
6 --seed 71@article{bu2025univla,
2 title={UniVLA: Learning to Act Anywhere with Task-centric Latent Actions},
3 author={Qingwen Bu and Yanting Yang and Jisong Cai and Shenyuan Gao and Guanghui Ren and Maoqing Yao and Ping Luo and Hongyang Li},
4 journal={arXiv preprint arXiv:2505.06111},
5 year={2025}
6}