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