MolmoAct2 is an open robotics foundation model from the Allen Institute for AI (Ai2) that maps camera images and language instructions to robot action chunks. The LeRobot implementation supports training and evaluation of the regular MolmoAct2 model.
This policy has been trained and pushed to the Hub using
LeRobot.
Learn how to train and run it in the
LeRobot molmoact2 guide, or browse the
full documentation.
The policy consumes these observation features and produces these action features.
1lerobot-rollout \
2 --strategy.type=base \
3 --robot.type=so_follower \
4 --robot.port=<your_robot_port> \
5 --robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
6 --policy.path=nikodembartnik/molmoact2-so101_2 \
7 --task="put pen in the pencil holder" \
8 --duration=60
When
--strategy.type=base is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at
rollout documentation.
1lerobot-train \
2 --dataset.repo_id=${HF_USER}/<dataset> \
3 --policy.type=molmoact2 \
4 --output_dir=outputs/train/<policy_repo_id> \
5 --job_name=lerobot_training \
6 --policy.device=cuda \
7 --policy.repo_id=${HF_USER}/<policy_repo_id> \
8 --wandb.enable=true
If you use this policy, please cite the method linked in the description above, along with LeRobot:
1@misc{cadene2024lerobot,
2 author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
3 title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
4 howpublished = "\url{https://github.com/huggingface/lerobot}",
5 year = {2024}
6}
