MolmoBot-Pi0-DROID-absjoint-reasoninit

MolmoBot-Pi0 (PaliGemma-decoder VLA) full fine-tune on the equad DROID data (shrg7/droid-equad-stage-1), with absolute joint-pose action targets (arm[t] = q[t+1], 7 joints + gripper).

Reasoning-init variant: before full fine-tuning, a frozen reasoning LoRA (trained reasoning-only on the same DROID data) is folded into the PaliGemma decoder weights in-place, so the full-FT starts from a reasoning-initialized backbone (a weight-space prior), rather than plain base weights.

• Config: molmobot_pi0_lerobot_droid_absjoint
• Checkpoint: step 2000 (intermediate — training in progress), held-out val_action_loss = 0.0199.
• Contents: model.safetensors (flat, full model), metadata.pt, assets/droid_equad/norm_stats.json, assets/train_config.pkl. Optimizer state omitted.