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molmoact2_ring_insert_20k
pravsels/molmoact2_ring_insert_20k
molmoact2_ring_insert_20k 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 ringinsert on SO101 data.
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10.9 GB on disk
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.safetensors10.9 GB · 100%
Parameter types
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BF165.4B · 100%
Base models
Model card
From the Hugging Face model README
molmoact2_ring_insert_20k
Fine-tuned MolmoAct2 (action-expert-only) for 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 |
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_ring_insert_20k")
- Task
- Robotics
- Library
- lerobot
- Created
- Jun 26, 2026
- Updated
- Jun 26, 2026