molmoact2_tool_insert_quantile_norm_fix_25k

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

Policy	MolmoAct2 (policy.type=molmoact2)
Init checkpoint	allenai/MolmoAct2
Dataset	villekuosmanen/armnetbench_tool_insert
Task	tool_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_tool_insert
W&B project	molmoact2_tool_insert_quantile_norm_fix_25k
W&B run	oiew4qmt

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 3535baf761b841961728d93b6f5ab6895b9057cf04c3846989040baa2e517782 | | policy_preprocessor.json | 2,495 bytes, sha256 e7c8b8293cb0265a01f83278033272efcb21b4c7bfb031cfbd683ed74ee7b139 | | policy_postprocessor.json | 757 bytes, sha256 6dbed1e1ec69e8c50f3a04c1f144a54231e3ef508f15fd7896ead43ea645b033 | | train_config.json | 8,257 bytes, sha256 346d840c7769cee2cf86ec30041a738c02c95aea24b4e983903b9de172b0904c |

Verify after download:

sha256sum model.safetensors
# expected: 3535baf761b841961728d93b6f5ab6895b9057cf04c3846989040baa2e517782

Usage

from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy
policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_tool_insert_quantile_norm_fix_25k")