Model Card for molmoact2

MolmoAct2 is an open robotics foundation model from the Allen Institute for AI (Ai2) that maps camera images and language instructions to robot action chunks. The LeRobot implementation supports training and evaluation of the regular MolmoAct2 model.

This policy has been trained and pushed to the Hub using LeRobot.

Learn how to train and run it in the LeRobot molmoact2 guide, or browse the full documentation.

Model Details

License: apache-2.0
Robot type: so_follower
Cameras: top, wrist

Inputs & Outputs

The policy consumes these observation features and produces these action features.

Inputs

Feature	Type	Shape
`observation.state`	STATE	`(6,)`
`observation.images.top`	VISUAL	`(3, 480, 640)`
`observation.images.wrist`	VISUAL	`(3, 480, 640)`

Outputs

Feature	Type	Shape
`action`	ACTION	`(6,)`

Training Dataset

Repository: lilkm/stackblocks_recap_iter1_annotated
Episodes: 175
Frames: 145362
Frame rate: 30 FPS
Task(s): "Place the red cube on the purple plastic rectangular pad, then stack the yellow cube on top of the red cube."

Training Configuration

Setting	Value
Training steps	5000
Batch size	4
Optimizer	adamw
Learning rate	1e-05
Seed	1000
LeRobot version	0.5.2

How to Get Started with the Model

New to LeRobot? These guides cover the full workflow:

Install LeRobot — set up the lerobot package.
Hardware setup — assemble, wire, and calibrate your robot and cameras.
Record data & train a policy — the end-to-end imitation-learning walkthrough.
CLI cheat-sheet — quick reference for the lerobot-* commands.

The short version to run and train this policy:

Run the policy on your robot

lerobot-rollout \
  --strategy.type=base \
  --robot.type=so_follower \
  --robot.port=<your_robot_port> \
  --robot.cameras="{ <camera_1>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}, <camera_2>: {type: opencv, index_or_path: <index_or_path>, width: 640, height: 480, fps: 30}}" \
  --policy.path=lilkm/molmoact2_recap_iter1_so100_blue \
  --task="Place the red cube on the purple plastic rectangular pad, then stack the yellow cube on top of the red cube." \
  --duration=60

Replace the remaining <...> placeholders with your own values: --robot.port and the camera names/indices are specific to your machine, and the camera names must match the observation keys this policy was trained on.

When --strategy.type=base is used the script doesn't record the episodes. Skipping duration will make the policy run indefinitely. For more information look at rollout documentation.

Train your own policy

lerobot-train \
  --dataset.repo_id=${HF_USER}/<dataset> \
  --policy.type=molmoact2 \
  --output_dir=outputs/train/<policy_repo_id> \
  --job_name=lerobot_training \
  --policy.device=cuda \
  --policy.repo_id=${HF_USER}/<policy_repo_id> \
  --wandb.enable=true

Writes checkpoints to outputs/train/<policy_repo_id>/checkpoints/.

Evaluation

No evaluation results have been provided for this policy yet.

Citation

If you use this policy, please cite the method linked in the description above, along with LeRobot:

@misc{cadene2024lerobot,
    author = {Cadene, Remi and Alibert, Simon and Soare, Alexander and Gallouedec, Quentin and Zouitine, Adil and Palma, Steven and Kooijmans, Pepijn and Aractingi, Michel and Shukor, Mustafa and Aubakirova, Dana and Russi, Martino and Capuano, Francesco and Pascal, Caroline and Choghari, Jade and Moss, Jess and Wolf, Thomas},
    title = {LeRobot: State-of-the-art Machine Learning for Real-World Robotics in Pytorch},
    howpublished = "\url{https://github.com/huggingface/lerobot}",
    year = {2024}
}

lilkm/molmoact2_recap_iter1_so100_blue