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pravsels/
molmoact2_cable_unclip_norm_fix

Name: molmoact2_cable_unclip_norm_fix
Availability: InStock

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molmoact2_cable_unclip_norm_fix

Fine-tuned MolmoAct2 (action-expert-only) on SO101 data, with SO101 gripper normalization fix.


Base model	allenai/MolmoAct2
Dataset	pravsels/cable_unclip_remote
Task	`cable_unclip`
Action dim	6 (single-arm)
Cameras	`top`, `wrist`, `front`
Normalization	MEAN_STD (action + state + gripper), IDENTITY (visual)
Training	Isambard GH200, batch 64, bf16, gradient checkpointing
W&B project	molmoact2_cable_unclip
W&B run	yzogzw7k

Checkpoints

Step	Path
002000	`checkpoints/002000/pretrained_model/`

The latest step (002000) is also copied to the repository root for direct loading.

Usage

python

from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy
policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_cable_unclip_norm_fix")