# MolmoAct2 Policy

MolmoAct2 is the LeRobot policy implementation of
[MolmoAct2](https://allenai.org/blog/molmoact2), ported into the LeRobot
training, evaluation, checkpointing, and dataset interfaces for easier use with
LeRobot datasets.

This implementation currently supports training and evaluation for the regular
MolmoAct2 model. MolmoAct2-Think, which supports adaptive depth reasoning, is
not included in this LeRobot policy yet and is coming soon.

For the original MolmoAct2 training code used for the experiments reported in
the paper, see [allenai/molmoact2](https://github.com/allenai/molmoact2).

## Installation Requirements

Install LeRobot with the MolmoAct2 optional dependencies:

```bash
uv sync --locked --extra molmoact2
```

To run the models in this repository, you need an NVIDIA GPU. The measurements
below were taken on a single NVIDIA H100 80GB with bf16 model loading, LIBERO with two RGB cameras. MolmoAct2 rows use `chunk_size=10`, action dim 7
padded to `expected_max_action_dim=32`, and `num_flow_timesteps=8`. Training measurements use
`gradient_checkpointing=true` and include the forward pass, backward pass,
gradient clipping, optimizer step, and optimizer state allocation. Values are
peak GPU memory sampled with `nvidia-smi`. Leave a few GiB of headroom for
dataloader workers, CUDA context, and fragmentation.

Multi-GPU training through `accelerate` increases throughput and global batch
size, but this LeRobot port does not currently expose the original MolmoAct2
`fsdp_devices` model-parallel training path. The current training script has
not been tested for multi-node training.

| Mode                                             | Peak Memory, bs=8 | Peak Memory, bs=16 | Peak Memory, bs=32 |
| ------------------------------------------------ | ----------------: | -----------------: | -----------------: |
| Inference, continuous, CUDA graph enabled (bs=1) |          12.1 GiB |                  - |                  - |
| Fine-tuning, action expert only, continuous      |          16.5 GiB |           18.3 GiB |           21.4 GiB |
| Fine-tuning, LoRA VLM, both action modes         |          20.2 GiB |           26.8 GiB |           41.3 GiB |
| Fine-tuning, full model, both action modes       |          48.3 GiB |           49.8 GiB |           60.1 GiB |

The repo has been tested with Ubuntu 22.04.

## Usage

To use MolmoAct2 in a LeRobot training config, set:

```bash
--policy.type=molmoact2
```

## Training

MolmoAct2 can be fine-tuned from either the released MolmoAct2 Hugging Face
checkpoint format or from a checkpoint already saved by LeRobot. Both routes use
the same LeRobot training loop, dataset transforms, checkpoint saving, and
logging. The difference is only how the initial policy weights and processor
state are loaded.

### Training With Original MolmoAct2 Weight

Use `policy.checkpoint_path` when starting from a released MolmoAct2 checkpoint,
for example `allenai/MolmoAct2` or `allenai/MolmoAct2-LIBERO`. LeRobot will load
the original HF model files, then build its own policy processor from the
dataset metadata and the policy options below.

The command below shows full fine-tuning on the merged LIBERO dataset. It uses
bf16 model loading, 8 flow timesteps, LeRobot dataset statistics, image
augmentation, and LeRobot's checkpointing/logging path.

```bash
accelerate launch \
  --num_processes=8 \
  --mixed_precision=bf16 \
  -m lerobot.scripts.lerobot_train \
  --dataset.repo_id=allenai/MolmoAct2-LIBERO-Dataset \
  --dataset.root=/path/to/lerobot/data/allenai/MolmoAct2-LIBERO-Dataset \
  --dataset.video_backend=pyav \
  --dataset.image_transforms.enable=true \
  --policy.type=molmoact2 \
  --policy.checkpoint_path=allenai/MolmoAct2-LIBERO \
  --policy.device=cuda \
  --policy.action_mode=both \
  --policy.chunk_size=10 \
  --policy.n_action_steps=10 \
  --policy.setup_type="single franka robotic arm in libero" \
  --policy.control_mode="delta end-effector pose" \
  --policy.image_keys='["observation.images.image","observation.images.wrist_image"]' \
  --policy.model_dtype=bfloat16 \
  --policy.num_flow_timesteps=8 \
  --policy.gradient_checkpointing=true \
  --policy.freeze_embedding=true \
  --policy.normalize_gripper=false \
  --policy.enable_knowledge_insulation=false \
  --policy.push_to_hub=false \
  --wandb.enable=true \
  --wandb.entity=<wandb_entity> \
  --wandb.project=<wandb_project> \
  --job_name=<job_name> \
  --output_dir=outputs/<job_name> \
  --steps=10000 \
  --batch_size=32 \
  --num_workers=4 \
  --log_freq=20 \
  --env_eval_freq=-1 \
  --save_checkpoint=true \
  --save_freq=2000
```

### Training With LeRobot MolmoAct2 Weight

Use `policy.path` when starting from a MolmoAct2 checkpoint that was saved by
LeRobot, either from a local `pretrained_model` directory or from the Hub. This
restores the saved LeRobot policy config, model weights, processor, and
normalization statistics. You can still override training-time options such as
`batch_size`, `steps`, LoRA flags, or `policy.action_mode`.

```bash
accelerate launch \
  --num_processes=8 \
  --mixed_precision=bf16 \
  -m lerobot.scripts.lerobot_train \
  --dataset.repo_id=allenai/MolmoAct2-LIBERO-Dataset \
  --dataset.root=/path/to/lerobot/data/allenai/MolmoAct2-LIBERO-Dataset \
  --dataset.video_backend=pyav \
  --dataset.image_transforms.enable=true \
  --policy.path=/path/to/pretrained_model \
  --policy.device=cuda \
  --policy.action_mode=both \
  --policy.chunk_size=10 \
  --policy.n_action_steps=10 \
  --policy.model_dtype=bfloat16 \
  --policy.num_flow_timesteps=8 \
  --policy.gradient_checkpointing=true \
  --wandb.enable=true \
  --wandb.entity=<wandb_entity> \
  --wandb.project=<wandb_project> \
  --job_name=<job_name> \
  --output_dir=outputs/<job_name> \
  --steps=10000 \
  --batch_size=32 \
  --num_workers=4 \
  --log_freq=20 \
  --env_eval_freq=-1 \
  --save_checkpoint=true \
  --save_freq=2000
```

### Common Practices

For fine-tuning on a comparatively small dataset, such as a single LIBERO suite
or a real-world dataset with less than 200 demonstrations, a global batch size of
16 to 32 is a good starting point. In these settings, `policy.enable_lora_vlm=true` or `policy.train_action_expert_only=true` is also a practical choice. In both
cases, we intentionally keep the action expert fully trainable, which we found
to be crucial for model performance. For larger fine-tuning datasets, larger
global batch sizes and full fine-tuning are usually preferred.

### Common Policy Options

- `policy.checkpoint_path`: original MolmoAct2 HF checkpoint to initialize from.
  Use this for released MolmoAct2 weights.
- `policy.path`: LeRobot checkpoint to initialize from. Use this for checkpoints
  created by LeRobot training.
- `policy.action_mode`: training target, one of `continuous`, `discrete`, or
  `both`. `both` trains the flow-matching action expert and the discrete
  action-token loss.
- `policy.train_action_expert_only`: trains only parameters whose names contain
  `action_expert`. It requires `policy.action_mode=continuous`.
- `policy.enable_lora_vlm`: enables LoRA on VLM linear layers. Use
  `policy.enable_lora_action_expert=true` only if LoRA should also cover action
  expert linear layers. When `policy.enable_lora_action_expert=false`, the
  action expert base weights remain fully trainable while the VLM is trained
  through LoRA adapters. When `policy.enable_lora_action_expert=true`, the
  action expert is also adapter-tuned instead of fully fine-tuned.
- `policy.enable_knowledge_insulation`: when `true`, detaches action-expert
  context K/V states before the action loss. The default is `false`.
- `policy.chunk_size`: action horizon used by the policy. For LIBERO we use
  `10`. This LeRobot port overrides the loaded checkpoint's
  `max_action_horizon` with this value.
- `policy.n_action_steps`: number of actions consumed from each predicted
  chunk before querying the policy again. For LIBERO, set it to `chunk_size`.
- `policy.setup_type`: text inserted into the prompt to describe the robot and
  scene, e.g. `single franka robotic arm in libero`. More examples are listed
  in the `metadata_by_tag` entries of
  [`norm_stats.json`](https://huggingface.co/allenai/MolmoAct2/blob/main/norm_stats.json).
- `policy.control_mode`: text inserted into the prompt to describe the action
  space, e.g. `delta end-effector pose` or `absolute joint pose`.
- `policy.image_keys`: ordered LeRobot image observation keys passed to the
  processor.
- `policy.model_dtype`: checkpoint/forward dtype, one of `float32`,
  `bfloat16`, or `float16`. Use `bfloat16` for normal training.
- `policy.num_flow_timesteps`: number of flow-matching timesteps sampled per
  example during training. We use `8` for fine-tuning.
- `policy.num_inference_steps`: optional override for continuous action
  generation steps at inference time.
- `policy.gradient_checkpointing`: enables checkpointing in the VLM/action path
  to reduce activation memory.
- `policy.freeze_embedding`: freezes input embeddings. The default is `true`.
- `policy.normalize_gripper`: controls whether gripper dimensions are included
  in state/action quantile normalization. The default is `false`.
- `policy.normalize_language`: normalizes task strings before prompt
  construction. The default is `true`.
- `policy.mask_action_dim_padding`: masks padded dimensions in the flow loss.
  Released checkpoints use `policy.expected_max_action_dim=32`.
- `policy.max_sequence_length`: optional manual sequence cap. Leave unset to
  infer it from images, state dimension, action dimension, action horizon, and
  discrete-action mode.

### Learning Rates

MolmoAct2 uses parameter-group learning rates to match the original MolmoAct2
fine-tuning experiments.

- Full fine-tuning uses `policy.optimizer_lr=1e-5` for the VLM,
  `policy.optimizer_vit_lr=5e-6` for the vision tower,
  `policy.optimizer_connector_lr=5e-6` for image connector layers, and
  `policy.optimizer_action_expert_lr=5e-5` for the action expert.
- LoRA VLM fine-tuning sets the VLM, vision, and connector LoRA parameter
  groups to `5e-5` when `policy.enable_lora_vlm=true`. By default,
  `policy.enable_lora_action_expert=false`, so the action expert is still fully
  fine-tuned with `policy.optimizer_action_expert_lr`. If
  `policy.enable_lora_action_expert=true`, the action expert is trained through
  LoRA adapters instead.
- Action-expert-only fine-tuning trains only the action expert and uses
  `policy.optimizer_action_expert_lr=5e-5`.

You can override the full fine-tuning and action-expert learning rates with
`policy.optimizer_lr`, `policy.optimizer_vit_lr`,
`policy.optimizer_connector_lr`, and `policy.optimizer_action_expert_lr`.
Scheduler settings can be changed with `policy.scheduler_warmup_steps`,
`policy.scheduler_decay_steps`, and `policy.scheduler_decay_lr`.

### Dataset Quantile Statistics

MolmoAct2 defaults to quantile normalization for state and action features. If
your dataset has not been converted with quantile statistics, you can add them
with:

```bash
python src/lerobot/scripts/augment_dataset_quantile_stats.py \
  --repo-id=your_dataset
```

Recording, resuming, and merging aggregate quantiles from per-episode summaries, so `meta/stats.json` ends up holding a conservative envelope (`min` for `q <= 50`, `max` for `q > 50`) rather than whole-dataset quantiles. To estimate the latter, scan every episode with a running histogram:

```bash
python src/lerobot/scripts/augment_dataset_quantile_stats.py \
  --repo-id=your_dataset \
  --overwrite \
  --skip-images
```

`--skip-images` keeps the existing image statistics and avoids video decoding when only `STATE`/`ACTION` need recomputing, and `--root` reads a local dataset instead of the Hub. These values are histogram estimates, subject to discretization and rebinning error, so they can differ from the conservative ones — which changes MolmoAct2's normalized targets and therefore its loss scale. Statistics already saved inside an existing checkpoint are not affected.

Alternatively, train MolmoAct2 with mean/std normalization:

```bash
--policy.normalization_mapping='{"ACTION": "MEAN_STD", "STATE": "MEAN_STD", "VISUAL": "IDENTITY"}'
```

## Evaluation

Evaluation also supports both LeRobot-saved checkpoints and original MolmoAct2
HF checkpoints. For LIBERO replication, keep the EGL rendering environment
fixed and use `policy.per_episode_seed=true`.

**Important:** We found that `num_steps_wait=10` does not reliably let the
LIBERO scene stabilize and can degrade measured success. All LIBERO evaluation
results reported here use `num_steps_wait=50`.

### Evaluation With LeRobot MolmoAct2 Weight

Use `policy.path` for a checkpoint saved by LeRobot. The saved processor and
normalization statistics are restored together with the model.

```bash
export MUJOCO_GL=egl
export PYOPENGL_PLATFORM=egl
export OMP_NUM_THREADS=1
export MKL_NUM_THREADS=1

lerobot-eval \
  --policy.path=allenai/MolmoAct2-LIBERO-LeRobot \
  --policy.inference_action_mode=continuous \
  --policy.model_dtype=bfloat16 \
  --policy.use_amp=true \
  --policy.enable_inference_cuda_graph=true \
  --policy.device=cuda \
  --policy.per_episode_seed=true \
  --policy.eval_seed=1000 \
  --env.type=libero \
  --env.task=libero_10,libero_goal,libero_object,libero_spatial \
  --env.camera_name_mapping='{"agentview_image":"image","robot0_eye_in_hand_image":"wrist_image"}' \
  --eval.batch_size=1 \
  --eval.n_episodes=50 \
  --seed=1000
```

### Evaluation With Original MolmoAct2 Weight

You can evaluate a released Hugging Face checkpoint directly without first
converting it to a LeRobot checkpoint. In this case, set
`policy.checkpoint_path` to the HF model repo and provide `policy.norm_tag`.
For LIBERO, `policy.norm_tag=libero` loads the LIBERO action/state
normalization statistics, action horizon, prompt metadata, and image-key order
from the checkpoint's `norm_stats.json`.

To fully replicate the MolmoAct2 paper results with released Hugging Face
checkpoints, we recommend using the v0.5.1-pinned
[`allenai/lerobot` `molmoact2-hf-inference`](https://github.com/allenai/lerobot/tree/molmoact2-hf-inference)
branch. That branch matches the original evaluation settings used for the
reported numbers.

```bash
export MUJOCO_GL=egl
export PYOPENGL_PLATFORM=egl
export OMP_NUM_THREADS=1
export MKL_NUM_THREADS=1

lerobot-eval \
  --policy.type=molmoact2 \
  --policy.checkpoint_path=allenai/MolmoAct2-LIBERO \
  --policy.norm_tag=libero \
  --policy.inference_action_mode=continuous \
  --policy.model_dtype=float32 \
  --policy.use_amp=false \
  --policy.enable_inference_cuda_graph=true \
  --policy.device=cuda \
  --policy.per_episode_seed=true \
  --policy.eval_seed=1000 \
  --env.type=libero \
  --env.task=libero_goal \
  --env.camera_name_mapping='{"agentview_image":"image","robot0_eye_in_hand_image":"wrist_image"}' \
  --eval.batch_size=1 \
  --eval.n_episodes=50 \
  --seed=1000
```

Use `--env.task=libero_10,libero_goal,libero_object,libero_spatial` to run the
full LIBERO suite. The same command works for other released MolmoAct2
checkpoints as long as the requested `policy.norm_tag` exists in that
checkpoint's `norm_stats.json`.

### Common Evaluation Options

- `policy.inference_action_mode`: required for rollout. Use `continuous` for
  flow-matching inference or `discrete` for action-token inference. It must be
  compatible with the training-time `policy.action_mode` saved in the
  checkpoint.
- `policy.path`: LeRobot checkpoint path or Hub repo. Use this for checkpoints
  saved by LeRobot.
- `policy.checkpoint_path`: original MolmoAct2 HF checkpoint path or Hub repo.
  Use this with `policy.type=molmoact2` and `policy.norm_tag`.
- `policy.norm_tag`: selects normalization statistics, prompt metadata,
  image-key order, and action horizon from the original checkpoint's
  `norm_stats.json`. It is required for direct original-HF checkpoint
  evaluation.
- `policy.model_dtype`: model load/forward dtype. Use `bfloat16` for normal
  GPU evaluation. Use `float32` only when you explicitly want fp32 inference.
- `policy.use_amp`: runs the policy forward under autocast during eval. For
  `model_dtype=bfloat16`, keep this enabled.
- `policy.enable_inference_cuda_graph`: enables the MolmoAct2 inference CUDA
  graph path for faster repeated continuous-action rollout.
- `policy.per_episode_seed` and `policy.eval_seed`: make stochastic continuous
  action generation deterministic per episode for replication.
- `env.task`: comma-separated LIBERO suites or a single suite. Use
  `libero_10,libero_goal,libero_object,libero_spatial` for the full benchmark.
- `env.camera_name_mapping`: maps LIBERO camera names to the image keys expected
  by the policy processor.

## Performance Results

### LIBERO Benchmark Results

MolmoAct2 has demonstrated strong performance on the LIBERO benchmark suite. To
compare and test its LeRobot implementation, we fine-tuned
[`allenai/MolmoAct2-LIBERO`](https://huggingface.co/allenai/MolmoAct2-LIBERO)
for an additional 10k steps on the LIBERO dataset with per-GPU batch size 32 on
8 H100 GPUs, then compared the results to the original MolmoAct2 reference
results.

The LeRobot fine-tuned checkpoint reported here is available at
[`allenai/MolmoAct2-LIBERO-LeRobot`](https://huggingface.co/allenai/MolmoAct2-LIBERO-LeRobot)
and was trained on
[`allenai/MolmoAct2-LIBERO-Dataset`](https://huggingface.co/datasets/allenai/MolmoAct2-LIBERO-Dataset).

| Benchmark      | LeRobot Implementation | MolmoAct2 Original |
| -------------- | ---------------------: | -----------------: |
| LIBERO Spatial |                  98.4% |              97.8% |
| LIBERO Object  |                 100.0% |             100.0% |
| LIBERO Goal    |                  98.0% |              97.8% |
| LIBERO 10      |                  96.6% |              93.2% |
| Average        |                 98.25% |             97.20% |

These results demonstrate MolmoAct2's strong performance across diverse robotic
manipulation tasks. To reproduce them, follow the instructions in the LIBERO
evaluation section.

## Hardware Deployment (lerobot-rollout)

LeRobot-format checkpoints are available on the Hub for direct use with
`lerobot-rollout`. Each checkpoint uses specific camera names that must
match your robot's camera configuration.

### Camera naming convention

Each checkpoint expects specific `observation.images.*` keys.
If your robot cameras have different names, use `--rename_map` to map them:

| Checkpoint                    | Camera keys            | Description              |
| ----------------------------- | ---------------------- | ------------------------ |
| MolmoAct2-LIBERO-LeRobot      | `image`, `wrist_image` | LIBERO sim cameras       |
| MolmoAct2-BimanualYAM-LeRobot | `top`, `left`, `right` | YAM 3-camera setup       |
| MolmoAct2-DROID-LeRobot       | `cam0`, `cam1`         | External + wrist         |
| MolmoAct2-SO100_101-LeRobot   | `cam0`, `cam1`         | Primary + secondary view |

Example with an SO-100 robot using top and side cameras:

```bash
lerobot-rollout \
  --policy.path=lerobot/MolmoAct2-SO100_101-LeRobot \
  --rename_map='{"observation.images.top": "observation.images.cam0", "observation.images.side": "observation.images.cam1"}' \
  --robot.type=so100_follower \
  --robot.port=/dev/ttyACM0 \
  --robot.cameras='{
      top: {type: opencv, index_or_path: 0, width: 640, height: 480, fps: 30},
      side: {type: opencv, index_or_path: 2, width: 640, height: 480, fps: 30}
  }' \
  --task="pick up the red cube" --duration=30
```

To use a wrist camera instead, just change the rename mapping:

```bash
--rename_map='{"observation.images.top": "observation.images.cam0", "observation.images.wrist": "observation.images.cam1"}'
```

### Joint frame transform (SO-100/101 zero-shot)

<Tip warning={true}>
The MolmoAct2-SO100_101 checkpoint was trained on data that uses a different
joint calibration convention than LeRobot >= 0.5.0. Without a frame
correction, the arm may move in the wrong direction.

This affects both **zero-shot deployment** and **fine-tuning** from the
original checkpoint. The pretrained weights expect the old convention, so
all joint data (observations and actions) must be transformed to match.

The converted LeRobot checkpoint (`lerobot/MolmoAct2-SO100_101-LeRobot`)
already includes this correction in its processor pipeline. If you convert
or fine-tune the checkpoint yourself, set the following in the policy config (`configuration_molmoact2.py`):

- `joint_signs`: `[1, -1, 1, 1, 1, 1]` (flips shoulder_lift direction)
- `joint_offsets`: `[0, 90, 90, 0, 0, 0]` (shifts shoulder_lift and elbow_flex by 90°)

See the [backward compatibility guide](./backwardcomp) for details on the
calibration change.

</Tip>

## Differences From the Original Implementation

This LeRobot port is intended to match MolmoAct2 behavior while using LeRobot's
dataset, training, evaluation, checkpoint, and logging infrastructure. The main
differences from the original training repository are:

- The original paper training stack loads the model in fp32 and trains under
  mixed precision. This LeRobot port usually loads the checkpoint directly in
  `policy.model_dtype=bfloat16` for lower memory use.
- The original repository uses its own FSDP/model-parallel training path. The
  LeRobot port uses the standard LeRobot/Accelerate training path and has not
  been tested for multi-node training.
- The original repository supports sequence packing. The LeRobot port trains on
  one LeRobot sample per item and pads to an inferred fixed sequence budget.
- The LeRobot port follows LeRobot's optimizer, scheduler, checkpoint saving,
  dataset transforms, image augmentation, and Weights & Biases logging
  conventions.
- The original training path supports mixed action horizons by padding to
  `max_action_horizon` and masking padded horizon slots in the action expert
  self-attention. This is useful when training across datasets with different
  control frequencies. The LeRobot port currently targets single-dataset
  fine-tuning, so `policy.chunk_size` overrides the checkpoint
  `max_action_horizon` and horizon masking is not implemented yet. Support for
  this mixed-horizon path is planned.

## Citation

```bibtex
@misc{fang2026molmoact2actionreasoningmodels,
      title={MolmoAct2: Action Reasoning Models for Real-world Deployment},
      author={Haoquan Fang and Jiafei Duan and Donovan Clay and Sam Wang and Shuo Liu and Weikai Huang and Xiang Fan and Wei-Chuan Tsai and Shirui Chen and Yi Ru Wang and Shanli Xing and Jaemin Cho and Jae Sung Park and Ainaz Eftekhar and Peter Sushko and Karen Farley and Angad Wadhwa and Cole Harrison and Winson Han and Ying-Chun Lee and Eli VanderBilt and Rose Hendrix and Suveen Ellawela and Lucas Ngoo and Joyce Chai and Zhongzheng Ren and Ali Farhadi and Dieter Fox and Ranjay Krishna},
      year={2026},
      eprint={2605.02881},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2605.02881},
}
```

## License

This model is licensed under Apache 2.0. It is intended for research and
educational use in accordance with
[Ai2's Responsible Use Guidelines](https://allenai.org/responsible-use),
consistent with [allenai/molmoact2](https://github.com/allenai/molmoact2).
