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examples/calvin/README.md

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+# CALVIN Benchmark
+
+This example runs the CALVIN benchmark: https://github.com/mees/calvin
+
+## With Docker
+
+```bash
+export SERVER_ARGS="--env CALVIN"
+docker compose -f examples/calvin/compose.yml up --build
+```
+
+## Without Docker
+
+Terminal window 1:
+
+```bash
+cd $OPENPI_ROOT
+conda create -n calvin python=3.8
+conda activate calvin
+
+git clone --recurse-submodules https://github.com/mees/calvin.git
+cd calvin
+pip install setuptools==57.5.0
+./install.sh
+
+pip install imageio[ffmpeg] moviepy numpy==1.23.0 tqdm tyro websockets msgpack
+ENV PYTHONPATH=$PYTHONPATH:$OPENPI_ROOT/packages/openpi-client/src
+
+# Download CALVIN dataset, see https://github.com/mees/calvin/blob/main/dataset/download_data.sh
+export CALVIN_DATASETS_DIR=~/datasets
+export CALVIN_DATASET=calvin_debug_dataset
+mkdir -p $CALVIN_DATASETS_DIR && cd $CALVIN_DATASETS_DIR
+wget http://calvin.cs.uni-freiburg.de/dataset/$CALVIN_DATASET.zip
+unzip $CALVIN_DATASET.zip
+rm $CALVIN_DATASET.zip
+
+# Run the simulation
+cd $OPENPI_ROOT
+python examples/calvin/main.py --args.calvin_data_path=$CALVIN_DATASETS_DIR
+```
+
+Terminal window 2:
+
+```bash
+# Run the server
+uv run scripts/serve_policy.py --env CALVIN
+```