molmoact2_insert_candle

Fine-tuned MolmoAct2 (action-expert-only) on SO101 data.

Base model	allenai/MolmoAct2
Dataset	villekuosmanen/armnetbench_insert_candle
Task	insert_candle
Training	Vast.ai H100 SXM, batch 64, bf16, gradient checkpointing
W&B project	molmoact2_insert_candle
W&B run	h9xv1ur4

Checkpoints

Step	Path
006000	checkpoints/006000/pretrained_model/
004000	checkpoints/004000/pretrained_model/
002000	checkpoints/002000/pretrained_model/

Usage

from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy
policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_insert_candle", revision="main")