Closed-loop benchmark of 9 VLA policies (GR00T N1.7, pi0/openpi, LoRA vs full fine-tuning) on BEHAVIOR-1K. Imitation learning / behavioral cloning with diffusion action heads in PyTorch, plus a reproducible eval harness, unattended training automation, and raw metrics.
benchmark pytorch transformer behavioral-cloning lora imitation-learning vla humanoid-robot robot-learning fine-tuning pi0 robot-manipulation openpi diffusion-policy vision-language-action lerobot gr00t closed-loop-evaluation omnigibson behavior-1k
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Updated
Aug 3, 2026 - Python