---
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")
```