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chore(docs): address PR comment

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Khalil Meftah
2026-06-27 13:44:45 +02:00
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docs/source/molmoact2.mdx
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@@ -438,7 +438,7 @@ all joint data (observations and actions) must be transformed to match.
The converted LeRobot checkpoint (`lerobot/MolmoAct2-SO100_101-LeRobot`) The converted LeRobot checkpoint (`lerobot/MolmoAct2-SO100_101-LeRobot`)
already includes this correction in its processor pipeline. If you convert 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_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°) - `joint_offsets`: `[0, 90, 90, 0, 0, 0]` (shifts shoulder_lift and elbow_flex by 90°)