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molmobot-img-droid-frankapickhard50-auxfix-lora-1k
ccwatson/molmobot-img-droid-frankapickhard50-auxfix-lora-1k
molmobot-img-droid-frankapickhard50-auxfix-lora-1k is a machine learning model from ccwatson. Use it for the machine learning task on the model card, and read the license before you ship it in a product.
This checkpoint is a 1,000-step MolmoBot finetune on frankapickhard50scripted2demoauxfix, starting from allenai/MolmoBot-Img-DROID.
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At a glance
- Access
- Public
- Created
- Jun 17, 2026
- Updated
- Jun 17, 2026
- SHA
- 13c2c1f6
Model card
From the Hugging Face model README
MolmoBot Img-DROID FrankaPickHard50 AuxFix LoRA 1k
This checkpoint is a 1,000-step MolmoBot finetune on
frankapickhard50_scripted_2demo_auxfix, starting from
allenai/MolmoBot-Img-DROID.
Important run constraints:
- Base checkpoint:
allenai/MolmoBot-Img-DROID - Dataset:
ccwatson/frankapickhard50_scripted_2demo_auxfix - Steps: 1,000
- Global batch size: 1
- Precision: AMP bf16
- Camera preset:
franka_wrist_only - Action preset:
franka_joint - Observation steps: 1
- Sequence length: 256
- LoRA: enabled on the final LLM block only
- LoRA rank: 4
- LoRA alpha: 8
- LoRA dropout: 0.05
- LoRA target preset:
attention - Action expert: reset and trained with 4 layers
- FSDP: disabled for this single-GPU run
The artifact is a full unsharded MolmoBot checkpoint, not an adapter-only export. It includes frozen base weights, trained LoRA tensors, and the trained reset action expert.
W&B run:
https://wandb.ai/ccwatson/molmobot_lora_finetunes/runs/bsmggw34
- Created
- Jun 17, 2026
- Updated
- Jun 17, 2026