molmoact2_eyedrops_shelf_norm_fix

Fine-tuned MolmoAct2 (action-expert-only) on SO101 data, with SO101 gripper normalization fix.

Base model	allenai/MolmoAct2
Dataset	pravsels/object_top_shelf_remote
Task	eyedrops_shelf
Action dim	6 (single-arm)
Cameras	top, wrist, front
Normalization	MEAN_STD (action + state + gripper), IDENTITY (visual)
Training	Isambard GH200, batch 64, bf16, gradient checkpointing
W&B project	molmoact2_eyedrops_shelf
W&B run	g9j1z7qw

Checkpoints

Step	Path
002000	checkpoints/002000/pretrained_model/

The latest step (002000) is also copied to the repository root for direct loading.

Usage

from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy
policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_eyedrops_shelf_norm_fix")