| --- |
| library_name: lerobot |
| tags: |
| - molmoact2 |
| - robotics |
| - lerobot |
| - vla |
| - bimanual |
| base_model: allenai/MolmoAct2 |
| --- |
| |
| # molmoact2_transfer_cube_quantile_norm_fix_25k |
|
|
| Fine-tuned [MolmoAct2](https://huggingface.co/allenai/MolmoAct2) (action-expert-only) for `transfer_cube` on SO101 data. |
|
|
| | | | |
| |---|---| |
| | **Policy** | MolmoAct2 (`policy.type=molmoact2`) | |
| | **Init checkpoint** | [allenai/MolmoAct2](https://huggingface.co/allenai/MolmoAct2) | |
| | **Dataset** | [villekuosmanen/armnetbench_transfer_cube](https://huggingface.co/datasets/villekuosmanen/armnetbench_transfer_cube) | |
| | **Task** | `transfer_cube` | |
| | **Action dim** | 12 (bimanual) | |
| | **Cameras** | `top`, `left_wrist`, `right_wrist` | |
| | **Training** | 25k steps, QUANTILES norm, freeze, batch 32 global, Isambard GH200 | |
| | **Prior HF repo** | [pravsels/molmoact2_transfer_cube](https://huggingface.co/pravsels/molmoact2_transfer_cube) | |
| | **W&B project** | [molmoact2_transfer_cube_quantile_norm_fix_25k](https://wandb.ai/pravsels/molmoact2_transfer_cube_quantile_norm_fix_25k) | |
| | **W&B run** | [skd3uk47](https://wandb.ai/pravsels/molmoact2_transfer_cube_quantile_norm_fix_25k/runs/skd3uk47) | |
|
|
| ## 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 `e577aac40c49a0783a6ff3b7b063d94408b4a48ee32d8117107ef25960b1ee73` | |
| | **policy_preprocessor.json** | 2,523 bytes, sha256 `aac2ee4e61c26a5322c9b3e2f727ce060c90071e012185d9f39cceb2d43ea04a` | |
| | **policy_postprocessor.json** | 758 bytes, sha256 `8690a8e7015281571c9de7d88073b302cd03123e5f677ea582c669dbf014e7ad` | |
| | **train_config.json** | 8,836 bytes, sha256 `99076bc43d5034125e205a7fa7078a0e706b4346beebf0acf53f1323a0f83b72` | |
| |
| Verify after download: |
| |
| ```bash |
| sha256sum model.safetensors |
| # expected: e577aac40c49a0783a6ff3b7b063d94408b4a48ee32d8117107ef25960b1ee73 |
| ``` |
| |
| ## Usage |
| |
| ```python |
| from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy |
| policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_transfer_cube_quantile_norm_fix_25k") |
| ``` |
| |
