| --- |
| library_name: lerobot |
| tags: |
| - molmoact2 |
| - robotics |
| - lerobot |
| - vla |
| base_model: allenai/MolmoAct2 |
| --- |
| |
| # molmoact2_tool_insert |
|
|
| Fine-tuned [MolmoAct2](https://huggingface.co/allenai/MolmoAct2) (action-expert-only) on SO101 data. |
|
|
| | | | |
| |---|---| |
| | **Base model** | [allenai/MolmoAct2](https://huggingface.co/allenai/MolmoAct2) | |
| | **Dataset** | [villekuosmanen/armnetbench_tool_insert](https://huggingface.co/datasets/villekuosmanen/armnetbench_tool_insert) | |
| | **Task** | `tool_insert` | |
| | **Training** | Vast.ai H100 SXM, batch 64, bf16, gradient checkpointing | |
| | **W&B project** | [molmoact2_tool_insert](https://wandb.ai/pravsels/molmoact2_tool_insert) | |
| | **W&B run** | [8m94f03c](https://wandb.ai/pravsels/molmoact2_tool_insert/runs/8m94f03c) | |
|
|
| ## Checkpoints |
|
|
| | Step | Path | |
| |------|------| |
| | 006000 | `checkpoints/006000/pretrained_model/` | |
| | 004000 | `checkpoints/004000/pretrained_model/` | |
|
|
| ## Usage |
|
|
| ```python |
| from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy |
| policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_tool_insert", revision="main") |
| ``` |
|
|
