OpenVLA Gripper Predict is 46% off:

I took the first episode from the fractal20220817 dataset and ran predictions with OpenVLA. The gripper results were off by 46%. This is critical because if the gripper opens or closes at the wrong moment, the entire movement will fail.

Please see attached documents:

1. Images (gif) used for running the prediction

2. Prompt: In: What action should the robot take to pick rxbar chocolate from bottom drawer and place on counter?\n Out:

3. Episode data action list

4. Predicted actions

5. Python script to run the predict (I added support to run it on a MacOS with (MPS)

6. Excel file for issue summary.