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molmoact2-so101-pen-box
junn0103/molmoact2-so101-pen-box
molmoact2-so101-pen-box is a robotics model from junn0103. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for lerobot. The card lists the license as apache-2.0.
LoRA-VLM fine-tune of allenai/MolmoAct2 on real SO-101 data (256 episodes / 141,044 frames, single wrist camera, 6-D absolute joint positions). Trained 10k steps from the base checkpoint, then continued 10k more from…
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From the Hugging Face model README
MolmoAct2 SO-101 fine-tune (2 tasks, 256 episodes) — step 20,000 total
LoRA-VLM fine-tune of allenai/MolmoAct2 on real SO-101 data (256 episodes / 141,044 frames, single wrist camera, 6-D absolute joint positions). Trained 10k steps from the base checkpoint, then continued 10k more from step 10,000 (~2.3 epochs total at batch 16).
- "pick the pen and put it in basket" (216 eps)
- "Place the toy blocks into the cardboard box." (40 eps)
- Recipe: action_mode=both, chunk_size=10, LoRA VLM + fully-trainable action expert, bf16, gradient checkpointing, normalize_gripper=true, quantile normalization, 1x H200
- Root of this repo = step 20,000 (final). Earlier checkpoints under tags step-002500..step-010000; this final also tagged step-020000.
- Curves: first 10k https://wandb.ai/junn0103-seoul-national-university/lerobot/runs/6i93o0sd , continuation https://wandb.ai/junn0103-seoul-national-university/lerobot/runs/jur4pqj5
Rollout: policy.path=this repo, policy.inference_action_mode=continuous, model_dtype=bfloat16.
- Task
- Robotics
- Library
- lerobot
- License
- apache-2.0
- Created
- Aug 26, 2026
- Updated
- Aug 26, 2026