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README.md

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+---
+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`.