Prismatic VLM is the project upon which OpenVLA is based. The generate script is available in the OpenVLA repo as well but is essentially using Prismatic . Note that the Prismatic models generate natural language whereas OpenVLA models were trained to generate robot actions. (see this https://github.com/openvla/openvla/issues/5). The  Of note, the K-Scale OpenVLA adaptation by [[User:Paweł]] is at https://github.com/kscalelabs/openvla