Default models are trained on ABCD->D
MPT-3B version: checkpoint_gripper_post_hist_1_aug_10_4_traj_cons_ws_12_mpt_3b_4.pth
MPT-IFT-3B version: checkpoint_gripper_post_hist_1_aug_10_4_traj_cons_ws_12_mpt_dolly_3b_2.pth
MPT-4B version: checkpoint_gripper_post_hist_1_aug_10_4_traj_cons_ws_12_mpt_base_4b_3.pth
MPT-IFT-4B version: checkpoint_gripper_post_hist_1_aug_10_4_traj_cons_ws_12_mpt_4b_3.pth
MPT-9B version: checkpoint_gripper_post_hist_1_aug_10_4_traj_cons_ws_12_mpt_9b_2.pth
MPT-IFT-3B + CoCo&VQA Co-Fintune version: cofinetune_checkpoint_gripper_post_hist_1_aug_10_4_traj_cons_ws_12_mpt_dolly_3b_3.pth