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1ckpt_path="/path/to/your/univla-7b-224-sft-simpler-bridge"
2action_decoder_path="/path/to/your/univla-7b-224-sft-simpler-bridge/action_decoder.pt"
3
4python experiments/robot/r2r/real2sim_eval_maniskill3.py \
5 --model="univla" -e "PutSpoonOnTableClothInScene-v1" -s 0 --num-episodes 24 --num-envs 1 \
6 --action_decoder_path ${action_decoder_path} \
7 --ckpt_path ${ckpt_path} \1@article{bu2025univla,
2 title={Univla: Learning to act anywhere with task-centric latent actions},
3 author={Bu, Qingwen and Yang, Yanting and Cai, Jisong and Gao, Shenyuan and Ren, Guanghui and Yao, Maoqing and Luo, Ping and Li, Hongyang},
4 journal={arXiv preprint arXiv:2505.06111},
5 year={2025}
6}