| --- |
| library_name: lerobot |
| tags: |
| - molmoact2 |
| - robotics |
| - lerobot |
| - vla |
| - bimanual |
| base_model: allenai/MolmoAct2 |
| --- |
| |
| # molmoact2_insert_candle_quantile_norm_fix_25k |
|
|
| 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](https://huggingface.co/allenai/MolmoAct2) | |
| | **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** | 25k steps, QUANTILES norm, freeze, batch 32 global, Isambard GH200 | |
| | **Prior HF repo** | [pravsels/molmoact2_insert_candle](https://huggingface.co/pravsels/molmoact2_insert_candle) | |
| | **W&B project** | [molmoact2_insert_candle_quantile_norm_fix_25k](https://wandb.ai/pravsels/molmoact2_insert_candle_quantile_norm_fix_25k) | |
| | **W&B run** | [b07rlk7i](https://wandb.ai/pravsels/molmoact2_insert_candle_quantile_norm_fix_25k/runs/b07rlk7i) | |
|
|
| ## Checkpoints |
|
|
| The checkpoint (local step `025000`, 25k training steps) lives at the **repository root** for direct loading. |
|
|
|
|
| ## Verification |
|
|
| | **Checkpoint step** | `025000` | |
| | **Source path** | `checkpoints/025000/pretrained_model/` | |
| | **model.safetensors** | 10,884,573,720 bytes, sha256 `af86903eebd5c089c4e74c694db6345671569d38e23da12840159744e8f4b593` | |
| | **policy_preprocessor.json** | 2,523 bytes, sha256 `aac2ee4e61c26a5322c9b3e2f727ce060c90071e012185d9f39cceb2d43ea04a` | |
| | **policy_postprocessor.json** | 758 bytes, sha256 `8690a8e7015281571c9de7d88073b302cd03123e5f677ea582c669dbf014e7ad` | |
| | **train_config.json** | 8,836 bytes, sha256 `2ac88bc6f39c14eb153b6dd8a59e6686a51e1d2c2647206573d8dde433c82d1f` | |
| |
| Verify after download: |
| |
| ```bash |
| sha256sum model.safetensors |
| # expected: af86903eebd5c089c4e74c694db6345671569d38e23da12840159744e8f4b593 |
| ``` |
| |
| ## Usage |
| |
| ```python |
| from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy |
| policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_insert_candle_quantile_norm_fix_25k") |
| ``` |
| |
