---
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`.