---
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")
```