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pravsels/
molmoact2_tool_insert_20k

Name: molmoact2_tool_insert_20k
Availability: InStock

allenai/MolmoAct2-SO100_101

finetune

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molmoact2_tool_insert_20k

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


Policy	MolmoAct2 (`policy.type=molmoact2`)
Init checkpoint	allenai/MolmoAct2-SO100_101
Dataset	villekuosmanen/armnetbench_tool_insert
Task	`tool_insert`
Action dim	6 (single-arm)
Cameras	`top`, `wrist`, `front`
Training	20k steps, batch 32 (8/GPU × 4 DDP), 4× RTX 5090 on Vast.ai
Prior HF repo	pravsels/molmoact2_tool_insert
W&B project	molmoact2_tool_insert
W&B run	vsh6rneo

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_tool_insert_20k")