EVA-Client: A Unified Data Collection, Inference, and Deployment Framework for Embodied Policies on Real Robots
EVA-Client is an open-source framework for deploying, collecting data, and evaluating trained manipulation policies on real robots. Sitting between a policy server and the physical hardware, it unifies the real-robot stages of the policy iteration loop within a single codebase. The framework features a component-decoupled architecture, inspectable execution workflows (Debug, Collect, Eval), and evaluation-as-data-collection, where each evaluation run produces training-ready trajectory data. It consolidates major real-time inference strategies behind a single configuration surface.
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[Submitted on 2 Jul 2026]
Title:EVA-Client: A Unified Data Collection, Inference, and Deployment Framework for Embodied Policies on Real Robots
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Abstract:We present EVA-Client, an open-source framework for deployment, data collection, and evaluation of trained manipulation policies on real robots. Sitting between a policy server and the physical hardware, EVA-Client unifies the real-robot stages of the policy iteration loop within a single codebase. It makes three contributions. First, a component-decoupled architecture in which robot backends, inference strategies, and transport middlewares form an orthogonal grid: adding a robot or a strategy touches only its own layer. Second, inspectable execution through Debug, Collect, and Eval workflows, with modes ranging from open-loop simulation to continuous real-time control. Third, every evaluation run doubles as a data collection, recording full rollouts in training-ready format alongside exhaustive logs and a side-by-side comparison viewer, so each evaluation feeds the next round of training rather than ending as an unrecorded impression. EVA-Client further consolidates major real-time inference strategies, synchronous and asynchronous execution, ACT-style temporal ensembling, Real-Time Chunking, and a naive-async ablation baseline, behind a single configuration surface.
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Subjects:
Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)
Cite as: arXiv:2607.02646 [cs.RO]
(or arXiv:2607.02646v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.02646
arXiv-issued DOI via DataCite
Submission history
From: Yang Yi [view email] [v1] Thu, 2 Jul 2026 17:59:52 UTC (7,781 KB)
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