molmoact2_block_stack_quantile_norm_fix_25k

pravsels/molmoact2_block_stack_quantile_norm_fix_25k

molmoact2_block_stack_quantile_norm_fix_25k is a robotics model from pravsels. 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.

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

Downloads · 30 days

10% of all-time downloads

All-time downloads

Public

Parameters

5.4B

10.9 GB on disk

Likes

Public

Hugging Face

Repo makeup

Click a slice to open those files.

.safetensors10.9 GB · 100%

Parameter types

How the weights are stored.

BF165.4B · 100%

Base models

allenai/MolmoAct2

Model card

From the Hugging Face model README

molmoact2_block_stack_quantile_norm_fix_25k

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


Policy	MolmoAct2 (`policy.type=molmoact2`)
Init checkpoint	allenai/MolmoAct2
Dataset	villekuosmanen/armnetbench_block_stack
Task	`block_stack`
Action dim	6 (single-arm)
Cameras	`top`, `wrist`, `front`
Training	25k steps, QUANTILES norm, freeze, batch 32 global, Isambard GH200
Prior HF repo	pravsels/molmoact2_block_stack
W&B project	molmoact2_block_stack_quantile_norm_fix_25k
W&B run	pir9oxln

Checkpoints

The checkpoint (local step 025000, 25k training steps) lives at the repository root for direct loading.

Verification

| Checkpoint step | 025000 | | Source path | checkpoints/025000/pretrained_model/ | | model.safetensors | 10,884,573,720 bytes, sha256 e4f71871567b158cecdc5762dc90f0fff98aa79087141754e7cb6d87bc928ea3 | | policy_preprocessor.json | 2,495 bytes, sha256 e7c8b8293cb0265a01f83278033272efcb21b4c7bfb031cfbd683ed74ee7b139 | | policy_postprocessor.json | 757 bytes, sha256 6dbed1e1ec69e8c50f3a04c1f144a54231e3ef508f15fd7896ead43ea645b033 | | train_config.json | 8,257 bytes, sha256 3373d72a00976be8d2faf88869a84d67ba0852287d9305dc0f008419b65788c2 |

Verify after download:

sha256sum model.safetensors
# expected: e4f71871567b158cecdc5762dc90f0fff98aa79087141754e7cb6d87bc928ea3

Usage

from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy
policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_block_stack_quantile_norm_fix_25k")

Task: Robotics
Library: lerobot
Created: Jul 7, 2026
Updated: Jul 7, 2026