Prompt Influence Issue with Different Aloha_sim Checkpoints

[oxFFFF-Q]

Thanks for your great work!

While testing aloha_sim, I found the following issues:
Using the pi0_aloha_sim checkpoint, changing default_prompt does not affect the robot’s actions in the video. Could this be due to overfitting from fine-tuning?
Using the pi0_base checkpoint, the robot fails to complete the task. In both cases, the robot does not respond to different prompts, even with simple ones like "push the cube."

Questions:

Why does the prompt seem to have no effect under different checkpoints?
Do I need to use specific prompts from the pi0 training phase? If so, could you provide examples?

Does prompt control require extra fine-tuning or additional steps? I would expect at least a trend in behavior changes based on different prompts.
Has anyone else encountered or solved this issue?

Looking forward to any insights! Thanks!