metadata
library_name: lerobot
tags:
- molmoact2
- robotics
- lerobot
- vla
base_model: allenai/MolmoAct2
molmoact2_ring_insert_norm_fix
Fine-tuned MolmoAct2 (action-expert-only) on SO101 data, with SO101 gripper normalization fix.
| Base model | allenai/MolmoAct2 |
| Dataset | villekuosmanen/armnetbench_ring_insert |
| Task | ring_insert |
| Action dim | 6 (single-arm) |
| Cameras | top, wrist, front |
| Normalization | MEAN_STD (action + state + gripper), IDENTITY (visual) |
| Training | Isambard GH200, batch 64, bf16, gradient checkpointing |
| W&B project | molmoact2_ring_insert |
| W&B run | qdvlslmq |
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_ring_insert_norm_fix")