This repository contains a checkpoint of the Pi0 model (HF implementation | Paper) finetuned on the BridgeV2 dataset for robotic manipulation tasks. The model is later used for testing on the Simpler Environment and our INTACT Probing Suite for the generalization boundaries of VLA models. Paper: From Intention to Execution: Probing the Generalization Boundaries of Vision-Language-Action Models Or directly in python with Lerobot, see blow: First, install lerobot Then For more details please refer to our paper and code Checkpoint choice After training 15 epochs, we sweep the checkpoint at epoch 1, 2, 3, 4, 5, 10, 15 for performance on the original 4 Bridge tasks in the SimplerEnv, and choose…