You can deploy this model and start earning money today!

ccwatson/
nth-lr-rel10-ie-mfe-best-20ksteps

Name: nth-lr-rel10-ie-mfe-best-20ksteps
Availability: InStock

molmobot

robotics

franka

vision-language-action

fine-tuned

ccwatson/RelabeledDirectionalPnPNextTo-10shard-left-right-only

allenai/MolmoBot-DROID

finetune

Views

No views yet

MolmoBot relabeled directional next-to left/right — step 20,000

This repository contains the unsharded MolmoBot checkpoint from training step 20,000 of nth-lr-rel10-ie-mfe-best-30k-b16-32.

It was uploaded separately while training was still running because it had the best intermediate closed-loop success rate observed through step 24,000. This repository is a fixed snapshot of step 20,000; it will not be replaced by later checkpoints from the run.

Files

model.pt: unsharded MolmoBot model weights
config.yaml: effective MolmoBot training/model configuration
intermediate_eval_step20000.json: compact closed-loop evaluation metadata

The checkpoint directory is directly usable by MolmoBot inference tooling and the vla-evaluation-harness MolmoBot model server.

Training

Base model: allenai/MolmoBot-DROID
Dataset: ccwatson/RelabeledDirectionalPnPNextTo-10shard-left-right-only
Checkpoint step: 20,000
Train/validation trajectories: 2,903 / 37
Directions: left and right
Action preset: franka_joint
Camera preset: franka_droid
Device/global batch size: 16 / 32
Sequence length: 928
Observation frames: 2, separated by 8 dataset steps
Image augmentation: enabled
Training task-description prompt randomization: disabled

Intermediate closed-loop evaluation

The checkpoint was evaluated on the 20-episode LR_10each unicorn benchmark: ten left episodes followed by ten right episodes.

Success rate: 25% (5/20)
Lax success rate: 25% (5/20)
Coverage: 20/20 episodes
Missing or duplicate episodes: 0
Evaluation errors: 0
Failed shards: 0
Renderer: classic
Parallel shards: 10
Task horizon: 500 simulator steps

This is a small checkpoint-selection benchmark, not a final estimate over the full 81-left and 81-right benchmark suites.

Use

Download the repository to a local checkpoint directory:

bash

hf download ccwatson/nth-lr-rel10-ie-mfe-best-20ksteps \
  --local-dir /path/to/nth-lr-rel10-ie-mfe-best-20ksteps

Configure the MolmoBot model server with that directory as its checkpoint path. A valid local directory contains both config.yaml and model.pt.

Run provenance

Training W&B run: https://wandb.ai/ccwatson/molmobot_finetune/runs/nhmj55qz
Intermediate-eval W&B run: https://wandb.ai/ccwatson/molmobot_finetune/runs/external-eval-nth-lr-rel10-ie-mfe-best-30k-b16-32-step20000
Dataset revision checked before training: 92a2fd1aed2cb6ae5e7af3963c0f2b1f19110738
Upload date: July 24, 2026