@bha51 I found the same.
I started gathering data for ACT/VLA policy training, but I’m hitting a pretty hard mental wall which is: if there are multiple SCs/NICs (which is possible at test-time), how can our policy know which one to choose? This feels like a strong blocker of any off the shelf VLA fine-tuning approach (i.e. you’d need a substantially larger number of episodes).
Curious if anyone has considered this. Happy to share some of my findings/thoughts.