metadata
library_name: lerobot
tags:
- molmoact2
- robotics
- lerobot
- vla
base_model: allenai/MolmoAct2
molmoact2_ring_insert_quantile_norm_fix_25k
Fine-tuned MolmoAct2 (action-expert-only) for ring_insert on SO101 data.
| Policy | MolmoAct2 (policy.type=molmoact2) |
| Init checkpoint | allenai/MolmoAct2 |
| Dataset | villekuosmanen/armnetbench_ring_insert |
| Task | ring_insert |
| Action dim | 6 (single-arm) |
| Cameras | top, wrist, front |
| Training | 25k steps, QUANTILES norm, freeze, batch 32 global, Isambard GH200 |
| Prior HF repo | pravsels/molmoact2_ring_insert |
| W&B project | molmoact2_ring_insert_quantile_norm_fix_25k |
| W&B run | 17dah0jl |
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 9a58815263e37cdd08008a533991a9a6102725cacc922825c08c844e7b351f10 |
| policy_preprocessor.json | 2,495 bytes, sha256 e7c8b8293cb0265a01f83278033272efcb21b4c7bfb031cfbd683ed74ee7b139 |
| policy_postprocessor.json | 757 bytes, sha256 6dbed1e1ec69e8c50f3a04c1f144a54231e3ef508f15fd7896ead43ea645b033 |
| train_config.json | 8,257 bytes, sha256 317d7f1f85cb1a0beb66e7eb27f886902b5f9657b9652e72665731b6509e8deb |
Verify after download:
sha256sum model.safetensors
# expected: 9a58815263e37cdd08008a533991a9a6102725cacc922825c08c844e7b351f10
Usage
from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy
policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_ring_insert_quantile_norm_fix_25k")