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Model tested on both instructions, on a single A100

"Move box to the right" works alright
"Move box to the left" is broken, the robot hides the box when moving right and the robot freezes

The descent phase works fine but the robot struggles to find the appropriate depth to push the box, once the bow starts to move however, the robot pushes it fine.

Both instructions take a lot of steps to succeed, the experiment takes roughly 5 minutes to proceed in full.

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Safetensors

Model size

8B params

Tensor type

BF16

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