molmoact2_tool_insert

Fine-tuned MolmoAct2 (action-expert-only) on SO101 data.

Base model	allenai/MolmoAct2
Dataset	villekuosmanen/armnetbench_tool_insert
Task	tool_insert
Training	Vast.ai H100 SXM, batch 64, bf16, gradient checkpointing
W&B project	molmoact2_tool_insert
W&B run	8m94f03c

Checkpoints

Step	Path
006000	checkpoints/006000/pretrained_model/
004000	checkpoints/004000/pretrained_model/

Usage

from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy
policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_tool_insert", revision="main")