| --- |
| library_name: lerobot |
| tags: |
| - molmoact2 |
| - robotics |
| - lerobot |
| - vla |
| - bimanual |
| base_model: allenai/MolmoAct2-SO100_101 |
| --- |
| |
| # molmoact2_insert_candle_20k |
| |
| Fine-tuned [MolmoAct2](https://huggingface.co/allenai/MolmoAct2) (action-expert-only) for `insert_candle` on SO101 data. |
|
|
| | | | |
| |---|---| |
| | **Policy** | MolmoAct2 (`policy.type=molmoact2`) | |
| | **Init checkpoint** | [allenai/MolmoAct2-SO100_101](https://huggingface.co/allenai/MolmoAct2-SO100_101) | |
| | **Dataset** | [villekuosmanen/armnetbench_insert_candle](https://huggingface.co/datasets/villekuosmanen/armnetbench_insert_candle) | |
| | **Task** | `insert_candle` | |
| | **Action dim** | 12 (bimanual) | |
| | **Cameras** | `top`, `left_wrist`, `right_wrist` | |
| | **Training** | 20k steps, batch 32 (8/GPU × 4 DDP), 4× RTX 5090 on Vast.ai | |
| | **Prior HF repo** | [pravsels/molmoact2_insert_candle](https://huggingface.co/pravsels/molmoact2_insert_candle) | |
| | **W&B project** | [molmoact2_insert_candle](https://wandb.ai/pravsels/molmoact2_insert_candle) | |
| | **W&B run** | [pvkbb3xa](https://wandb.ai/pravsels/molmoact2_insert_candle/runs/pvkbb3xa) | |
|
|
| ## Checkpoints |
|
|
| The final checkpoint (local step `020000`, 20k total steps) lives at the **repository root** for direct loading. |
|
|
| ## Usage |
|
|
| ```python |
| from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy |
| policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_insert_candle_20k") |
| ``` |
|
|
