You can deploy this model and start earning money today!

pravsels/
molmoact2_open_lamp_door_20k

Name: molmoact2_open_lamp_door_20k
Availability: InStock

allenai/MolmoAct2-SO100_101

finetune

Views

No views yet

molmoact2_open_lamp_door_20k

Fine-tuned MolmoAct2 (action-expert-only) for open_lamp_door on SO101 data.


Policy	MolmoAct2 (`policy.type=molmoact2`)
Init checkpoint	allenai/MolmoAct2-SO100_101
Dataset	villekuosmanen/armnetbench_open_lamp_door
Task	`open_lamp_door`
Action dim	12 (bimanual)
Cameras	`top`, `left_wrist`, `right_wrist`
Training	20k steps, batch 32 (8/GPU × 4 DDP), 4× RTX 5090 on Vast.ai
Prior HF repo	pravsels/molmoact2_open_lamp_door
W&B project	molmoact2_open_lamp_door
W&B run	qlge6uil

Checkpoints

The final checkpoint (local step 020000, 20k total steps) lives at the repository root for direct loading.

Usage

python

from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy
policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_open_lamp_door_20k")