[https://github.com/TRI-ML/prismatic-vlms Prismatic VLM ] is the project upon which OpenVLA is based. The generate.py REPL script is available in the OpenVLA repo as well but is essentially using Prismatic models. 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).