---
license: mit
language:
- en
---

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