| library_name: lerobot | |
| tags: | |
| - molmoact2 | |
| - robotics | |
| - lerobot | |
| - vla | |
| base_model: allenai/MolmoAct2 | |
| # molmoact2_insert_candle | |
| Fine-tuned [MolmoAct2](https://huggingface.co/allenai/MolmoAct2) (action-expert-only) on SO101 data. | |
| | | | | |
| |---|---| | |
| | **Base model** | [allenai/MolmoAct2](https://huggingface.co/allenai/MolmoAct2) | | |
| | **Dataset** | [villekuosmanen/armnetbench_insert_candle](https://huggingface.co/datasets/villekuosmanen/armnetbench_insert_candle) | | |
| | **Task** | `insert_candle` | | |
| | **Training** | Vast.ai H100 SXM, batch 64, bf16, gradient checkpointing | | |
| | **W&B project** | [molmoact2_insert_candle](https://wandb.ai/pravsels/molmoact2_insert_candle) | | |
| | **W&B run** | [h9xv1ur4](https://wandb.ai/pravsels/molmoact2_insert_candle/runs/h9xv1ur4) | | |
| ## Checkpoints | |
| | Step | Path | | |
| |------|------| | |
| | 006000 | `checkpoints/006000/pretrained_model/` | | |
| | 004000 | `checkpoints/004000/pretrained_model/` | | |
| | 002000 | `checkpoints/002000/pretrained_model/` | | |
| ## Usage | |
| ```python | |
| from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy | |
| policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_insert_candle", revision="main") | |
| ``` | |