| --- |
| library_name: lerobot |
| tags: |
| - molmoact2 |
| - robotics |
| - lerobot |
| - vla |
|
|
| base_model: allenai/MolmoAct2 |
| --- |
| |
| # molmoact2_tool_insert_quantile_norm_fix_25k |
|
|
| Fine-tuned [MolmoAct2](https://huggingface.co/allenai/MolmoAct2) (action-expert-only) for `tool_insert` on SO101 data. |
|
|
| | | | |
| |---|---| |
| | **Policy** | MolmoAct2 (`policy.type=molmoact2`) | |
| | **Init checkpoint** | [allenai/MolmoAct2](https://huggingface.co/allenai/MolmoAct2) | |
| | **Dataset** | [villekuosmanen/armnetbench_tool_insert](https://huggingface.co/datasets/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](https://huggingface.co/pravsels/molmoact2_tool_insert) | |
| | **W&B project** | [molmoact2_tool_insert_quantile_norm_fix_25k](https://wandb.ai/pravsels/molmoact2_tool_insert_quantile_norm_fix_25k) | |
| | **W&B run** | [oiew4qmt](https://wandb.ai/pravsels/molmoact2_tool_insert_quantile_norm_fix_25k/runs/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: |
| |
| ```bash |
| sha256sum model.safetensors |
| # expected: 3535baf761b841961728d93b6f5ab6895b9057cf04c3846989040baa2e517782 |
| ``` |
| |
| ## Usage |
| |
| ```python |
| from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy |
| policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_tool_insert_quantile_norm_fix_25k") |
| ``` |
| |
