metadata
library_name: lerobot
tags:
- molmoact2
- robotics
- lerobot
- vla
- bimanual
base_model: allenai/MolmoAct2
molmoact2_insert_candle_norm_fix
Fine-tuned MolmoAct2 (action-expert-only) on SO101 data, with SO101 gripper normalization fix.
| Base model | allenai/MolmoAct2 |
| Dataset | villekuosmanen/armnetbench_insert_candle |
| Task | insert_candle |
| Action dim | 12 (bimanual) |
| Cameras | top, left_wrist, right_wrist |
| Normalization | MEAN_STD (action + state + gripper), IDENTITY (visual) |
| Training | Isambard GH200, batch 64, bf16, gradient checkpointing |
| W&B project | molmoact2_insert_candle |
| W&B run | hq4v4dgx |
Checkpoints
| Step | Path |
|---|---|
| 002000 | checkpoints/002000/pretrained_model/ |
The latest step (002000) is also copied to the repository root for direct loading.
Usage
from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy
policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_insert_candle_norm_fix")