Nothing in robotics is built yetWorking with classical software or even LLMs is so comparatively easy. If you approach "I want to finetune pi0.5 on a new embodiment" with the old mindset, you'd assume the tooling(sim, finetune script, etc) around this task exists, you'd be so wrong!Case in point, I've just discovered the LeRobot finetune script, which includes a train_expert_only flag and supports Pi0.5, does not implement Knowledge Insulation which is absolutely required to only train the actio