molmoact2_block_stack_so101_quantile_12k

Fine-tuned MolmoAct2 (action-expert-only) on block_stack with QUANTILES normalization (q01/q99). Intermediate checkpoint at step 12000 while 30k training continues on Isambard.

Policy	MolmoAct2 (policy.type=molmoact2)
Init checkpoint	allenai/MolmoAct2-SO100_101
Dataset	villekuosmanen/armnetbench_block_stack
Task	block_stack
Local run	molmoact2_block_stack_so101_quantile
Checkpoint step	012000 (12k / 30k target)
Normalization	QUANTILES (action + state + gripper), IDENTITY (visual)
Training	Isambard GH200, batch 64 (16/GPU x 4 DDP), bf16, no gradient checkpointing

Checkpoints

Step 012000 lives at the repository root for direct loading.

Usage

from lerobot.policies.molmoact2.modeling_molmoact2 import MolmoAct2Policy
policy = MolmoAct2Policy.from_pretrained("pravsels/molmoact2_block_stack_so101_quantile_12k")