EVA-Client: A Unified Data Collection, Inference, and Deployment Framework for Embodied Policies on Real Robots
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 evalu...
| Authors | Heqing Yang, Yang Yi, Liyao Wang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 2 July 2026 |
| Last updated at source | 2 July 2026 |
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