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MolmoBot-Pi0-DROID-absjoint-RETAIN-a0.8
shrg7/MolmoBot-Pi0-DROID-absjoint-RETAIN-a0.8
MolmoBot-Pi0-DROID-absjoint-RETAIN-a0.8 is a robotics model from shrg7. Use it for the robotics task on the model card, and read the license before you ship it in a product. The card lists the license as apache-2.0.
RETAIN baseline (arXiv:2512.08333, Robust Finetuning of VLA Policies via Parameter Merging) for the absolute-joint DROID pi0 policy.
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Updated Jul 6, 2026
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At a glance
- Task
- Robotics
- License
- apache-2.0
- Access
- Public
- Created
- Jul 6, 2026
- Updated
- Jul 6, 2026
- SHA
- 7408334f
Model card
From the Hugging Face model README
MolmoBot-Pi0-DROID-absjoint — RETAIN (alpha=0.8)
RETAIN baseline (arXiv:2512.08333, Robust Finetuning of VLA Policies via Parameter Merging) for the absolute-joint DROID pi0 policy.
The language-model weights of the finetuned specialist are interpolated back toward the pretrained generalist MolmoBot-Pi0-DROID, while the vision encoder and action expert are kept fully finetuned:
theta_llm = (1 - alpha) * theta_base + alpha * theta_finetuned (alpha = 0.8)
vision_tower + gemma_expert + action heads : fully finetuned
- Base (generalist): MolmoBot-Pi0-DROID
- Finetuned (specialist): MolmoBot-Pi0-DROID-absjoint (full-FT, step 5000)
- Merged tensors: 164 language-model / 613 kept
- alpha = 0.8 (1.0 = pure finetuned, 0.0 = LLM reset to base)
Flat pi0 checkpoint: model.safetensors + metadata.pt + assets/droid_equad/norm_stats.json.
Actions are absolute future joint positions q[g+i+1].
- Task
- Robotics
- License
- apache-2.0
- Created
- Jul 6, 2026
- Updated
- Jul 6, 2026