molmoact2_transfer_cube_20k

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

Policy	MolmoAct2 (policy.type=molmoact2)
Init checkpoint	allenai/MolmoAct2-SO100_101
Dataset	villekuosmanen/armnetbench_transfer_cube
Task	transfer_cube
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_transfer_cube
W&B project	molmoact2_transfer_cube
W&B run	lrmsb00d

Checkpoints

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

Usage

from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy
policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_transfer_cube_20k")