metadata
license: apache-2.0
tags:
- robotics
- vla
- molmoact2
- droid
MolmoAct2-DROID — absolute joint-pose full fine-tune
Full fine-tune of allenai/MolmoAct2-DROID on the filtered DROID mixture
(shrg7/droid-equad-stage-1-jointabs, LeRobot v3.0) with absolute joint-pose
action targets (arm[t] = q[t+1], 7 arm joints + gripper).
- Trainer: lerobot-native
MolmoAct2Policy(continuous flow action expert) control_mode="absolute joint pose",action_mode=continuous, chunk 15- Norm stats derived from this dataset (avoids the franka_droid clip issue)
- Checkpoint: step 16000 (training in progress; this is an intermediate checkpoint)
Standard lerobot MolmoAct2 checkpoint dir: model.safetensors + config.json +
pre/post-processor pipelines (policy_preprocessor*, policy_postprocessor*) +
train_config.json.