Fengyuan Hu

I'm also working on implementing OpenVLA into SimplerEnv, and I had the same issue: OpenVLA fails drastically on Bridge. I wonder if that has anything to do with the controller...

Thanks, let me look into that!

Also, why there's no difference in handling the different arm controllers in the model wrappers? Seems like only the gripper actions are handled differently. In terms of gripper actions, can...

One failure case of OpenVLA:  [Here](https://github.com/openvla/openvla/issues/3) are some explanations from the OpenVLA authors, but I don't think they are clear enough. Can you share where you found the `sticky_gripper_num_repeat`...

I tried all arrangements and neither worked. The task is to pick up the spoon, and the gripper should move forward in order to do that. However, every time it...

Yes my model wrapper was also modified from the Octo code. However, from my understanding, the main part of that code is processing the rotation from rpy to axis angles...