EVA-Client: A Unified Data Collection, Inference, and Deployment Framework for Embodied Policies on Real Robots

• URL: http://arxiv.org/abs/2607.02646v1
• Date: Thu, 02 Jul 2026 17:59:52 GMT
• Title: EVA-Client: A Unified Data Collection, Inference, and Deployment Framework for Embodied Policies on Real Robots
• Abstract summary: EVA-Client is an open-source framework for deployment, data collection, and evaluation of trained manipulation policies on real robots.<n>Every evaluation run doubles as a data collection, recording full rollouts in training-ready format.<n> EVA-Client consolidates major real-time inference strategies, synchronous and asynchronous execution, ACT-style temporal ensembling, Real-Time Chunking, and a naive-async ablation baseline.
• Score: 22.010881443693336
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• 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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