Models and environments are connected via their respective clients.
Currently we have a a client for the (joint-space-)real-robot environments from the latest real-robot repository, and the legacy (joint-space) RealRobotEnvironment from evaluating_real_world repository.
For clients we have Octo, Crossformer, OpenVLA, FlowerVLA and MoDE.
Start the respective servers of the models and the environments, then run kitchen_eval.py. You can configure the tasks and the connection information in config/kitchen_eval.yaml.