From 95b3758253b8c1285b70c608ad074e7e8588ce04 Mon Sep 17 00:00:00 2001 From: Khalil Meftah Date: Sat, 27 Jun 2026 13:44:45 +0200 Subject: [PATCH] chore(docs): address PR comment --- docs/source/molmoact2.mdx | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/source/molmoact2.mdx b/docs/source/molmoact2.mdx index 055629c8d..9852b13b0 100644 --- a/docs/source/molmoact2.mdx +++ b/docs/source/molmoact2.mdx @@ -438,7 +438,7 @@ 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: +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°)