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| Preview | Environment | Description |
|---|---|---|
 | gr1_microwave | Reach out to the microwave and open it. |
 | galileo_pnp | Pick objects and place in target location |
 | g1_locomanip_pnp | Pick up the brown box from the shelf, and place it into the blue bin on the table located at the right of the shelf. |
 | kitchen_pnp | Kitchen object manipulation tasks |
 | press_button | Locate and press button |
SmolVLA:1lerobot-eval \
2 --policy.path=nvidia/smolvla-arena-gr1-microwave \
3 --env.type=isaaclab_arena \
4 --env.hub_path=nvidia/isaaclab-arena-envs \
5 --rename_map='{"observation.images.robot_pov_cam_rgb": "observation.images.robot_pov_cam"}' \
6 --policy.device=cuda \
7 --env.environment=gr1_microwave \
8 --env.embodiment=gr1_pink \
9 --env.object=mustard_bottle \
10 --env.headless=false \
11 --env.enable_cameras=true \
12 --env.video=true \
13 --env.video_length=10 \
14 --env.video_interval=15 \
15 --env.state_keys=robot_joint_pos \
16 --env.camera_keys=robot_pov_cam_rgb \
17 --trust_remote_code=True \
18 --eval.batch_size=1