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tags:
- robotics
- vla
- unlearning
- pi0.5
- libero
license: apache-2.0
---
# Behavior Uncloning — GA (step 20)
VLA unlearning checkpoint: pi0.5 model with **GA** unlearning applied.
## Results
| Metric | Value |
|--------|-------|
| Method | GA |
| Training Steps | 20 |
| Forget Task | "turn on the stove" (LIBERO-Goal T6) |
| Forget SR | 0% (baseline: 100%) |
| Retain SR | 44.4% (baseline: 97.8%) |
| HM | 0.61 |
## Usage
```bash
# Serve with openpi
uv run scripts/serve_policy.py --env LIBERO policy:checkpoint \
--policy.config pi05_libero --policy.dir <path_to_checkpoint>
```
## Method
**Gradient Ascent**: L = -L_flow(D_forget). Maximizes flow matching loss on forget data.
Base model: [pi0.5 LIBERO](https://github.com/Physical-Intelligence/openpi)
See full report: [experiment_report.md](https://github.com/haohww/behavior-uncloning/blob/main/docs/experiments/vla/experiment_report.md)
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