{"ID":5944056,"CreatedAt":"2026-07-07T04:35:10.381001403Z","UpdatedAt":"2026-07-13T23:59:41.726494204Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.02646","arxiv_id":"2607.02646","title":"EVA-Client: A Unified Data Collection, Inference, and Deployment Framework for Embodied Policies on Real Robots","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.","short_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 contr...","url_abs":"https://arxiv.org/abs/2607.02646","url_pdf":"https://arxiv.org/pdf/2607.02646v1","authors":"[\"Heqing Yang\",\"Yang Yi\",\"Liyao Wang\",\"Linqing Zhong\",\"Donglin Yang\",\"Ruipu Wu\",\"Zitong Bai\",\"Fengjiao Chen\",\"Manyuan Zhang\",\"Linjiang Huang\",\"Si Liu\"]","published":"2026-07-02T17:59:52Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.CV\"]","methods":"[]","has_code":false}