Detail problem about finetune on custom robot by adding new domain

[JiaqiWng]

Hi, authors!

Thank you so much for releasing great model code and checkpoints!!!

In the pretrained model checkpoint, there are 30 domains reserved for pretraining and finetuning. In X-VLA/datasets/domain_config.py, the dict DATA_DOMAIN_ID shows used domain_ids.

I am planning to finetune the pretrained model (2toINF/X-VLA-Pt) to my custom robot. I am wondering the specific usable domain id interval. According to the DATA_DOMAIN_ID, I am sure 0-18th domain cannot be used, 20-27 and the rest(not inclued in the code) is not clear.

My question is when finetuning on custom robot, can I directly use the 28, 29 for finetuning? Or I need to expand the domain relavant modules on the domain dimension before finetuning?

Any reply would be greatly appreciated! Thanks again!