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ring_insert on SO101 data.| Policy | MolmoAct2 (policy.type=molmoact2) |
| Init checkpoint | allenai/MolmoAct2-SO100_101 |
| Dataset | villekuosmanen/armnetbench_ring_insert |
| Task | ring_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_ring_insert |
| W&B project | molmoact2_ring_insert |
| W&B run | tbo3ra17 |
020000, 20k total steps) lives at the repository root for direct loading.1from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy
2policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_ring_insert_20k")