You can deploy this model and start earning money today!

pravsels/
molmoact2_insert_candle_norm_fix

Name: molmoact2_insert_candle_norm_fix
Availability: InStock

Views

No views yet

molmoact2_insert_candle_norm_fix

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


Base model	allenai/MolmoAct2
Dataset	villekuosmanen/armnetbench_insert_candle
Task	`insert_candle`
Action dim	12 (bimanual)
Cameras	`top`, `left_wrist`, `right_wrist`
Normalization	MEAN_STD (action + state + gripper), IDENTITY (visual)
Training	Isambard GH200, batch 64, bf16, gradient checkpointing
W&B project	molmoact2_insert_candle
W&B run	hq4v4dgx

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_insert_candle_norm_fix")