chore(policy): parameterize openvla-oft repo path (env/arg, no hardcoded /home)

Author: geng-haoran

scripts/policy/bridge_policy_server.py

@@ -22,6 +22,7 @@
 from __future__ import annotations
 
 import argparse
+import os
 import pickle
 import socket
 import struct
@@ -222,7 +223,13 @@ def process(action):
     ap.add_argument("--ckpt", required=True)
     ap.add_argument("--port", type=int, default=5555)
     ap.add_argument("--quant", choices=["none", "8bit", "4bit"], default="none")
-    ap.add_argument("--repo", default="/home/ghr/projects/robotwin/policy/openvla-oft")
+    ap.add_argument(
+        "--repo",
+        default=os.environ.get("OPENVLA_OFT_REPO", ""),
+        help="path to a local openvla-oft checkout (or set $OPENVLA_OFT_REPO)",
+    )
     ARGS = ap.parse_args()
+    if not ARGS.repo:
+        raise SystemExit("--repo (or $OPENVLA_OFT_REPO) must point to a local openvla-oft checkout")
     sys.path.insert(0, ARGS.repo)
     raise SystemExit(main())

scripts/policy/run_openvla_eval.sh

@@ -8,8 +8,9 @@
 #   setsid nohup bash scripts/policy/run_openvla_eval.sh > .../launcher.log 2>&1 < /dev/null &
 set -u
 
-RVLIB=/home/ghr/projects/RoboVerse/RoboVerse-libero
-OVREPO=/home/ghr/projects/robotwin/policy/openvla-oft
+# Local-dev launcher: override these for your machine (or export before running).
+RVLIB=${RVLIB:-$(cd "$(dirname "$0")/../.." && pwd)}
+OVREPO=${OPENVLA_OFT_REPO:-/path/to/openvla-oft}
 CKPT=$RVLIB/third_party/ckpt/openvla-oft-libero-plus
 SRV_LOG=$RVLIB/third_party/ckpt/bf16_server.log
 RES_LOG=$RVLIB/third_party/ckpt/openvla_eval_result.log