molmoact2_ring_insert_quantile_norm_fix_25k

pravsels/molmoact2_ring_insert_quantile_norm_fix_25k

molmoact2_ring_insert_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 ringinsert on SO101 data.

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Parameters

5.4B

10.9 GB on disk

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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_ring_insert_quantile_norm_fix_25k

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


Policy	MolmoAct2 (`policy.type=molmoact2`)
Init checkpoint	allenai/MolmoAct2
Dataset	villekuosmanen/armnetbench_ring_insert
Task	`ring_insert`
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_ring_insert
W&B project	molmoact2_ring_insert_quantile_norm_fix_25k
W&B run	17dah0jl

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 9a58815263e37cdd08008a533991a9a6102725cacc922825c08c844e7b351f10 | | policy_preprocessor.json | 2,495 bytes, sha256 e7c8b8293cb0265a01f83278033272efcb21b4c7bfb031cfbd683ed74ee7b139 | | policy_postprocessor.json | 757 bytes, sha256 6dbed1e1ec69e8c50f3a04c1f144a54231e3ef508f15fd7896ead43ea645b033 | | train_config.json | 8,257 bytes, sha256 317d7f1f85cb1a0beb66e7eb27f886902b5f9657b9652e72665731b6509e8deb |

Verify after download:

sha256sum model.safetensors
# expected: 9a58815263e37cdd08008a533991a9a6102725cacc922825c08c844e7b351f10

Usage

from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy
policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_ring_insert_quantile_norm_fix_25k")

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