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3 Commits

Author SHA1 Message Date
Khalil Meftah 2f2b567951 Enable MolmoAct2 rollout on SO-100/101 with calibration correction (#3879) 
* fix(rollout): improve visual feature mismatch error with --rename_map hint

* feat(policies): add joint frame transform and hardware deployment docs for MolmoAct2

Add MolmoAct2StateFrameTransformStep and MolmoAct2ActionFrameTransformStep
processor steps for cross-calibration compatibility on SO-100/101. Add
joint_signs and joint_offsets config fields. Add hardware deployment section
to molmoact2.mdx with camera naming convention, joint frame correction, and
safety guidance.

* chore(docs): address PR comment

* fix: address reviewer comments
 2026-06-29 18:52:59 +02:00
Khalil Meftah c3f180e115 refactor(policies): clean MolmoAct2 to follow EO1/TOPReward patterns (#3724) 
Align the MolmoAct2 implementation with lerobot codebase conventions:

- Rename hf_model/ to molmoact2_hf_model/
- Slim config: move all I/O and runtime logic to modeling
- Remove blanket  from 8 vendored files, fix 66 lint issues
- Deduplicate _hf_token() and _resolve_checkpoint_location()
- Make huggingface_hub imports lazy
- Remove custom MolmoAct2CosineDecayWithWarmupSchedulerConfig, use base class
- Extract 13 static/classmethods from MolmoAct2Policy to free functions
- Replace print() with logger in vendored action_tokenizer
- Add module docstrings, class docstring, and key method docstrings
- Add module-level loggers to modeling and processor
- Fix docs: pip to uv install, deduplicate README symlink
- Remove shebangs from all files
 2026-06-25 14:19:35 +02:00
Haoquan Fang 24017e960c Add MolmoAct2 policy (#3604) 
* add molmoact2 policy

* add apache headers to molmoact2 files

* simplify molmoact2 package imports

* align molmoact2 feature validation with eo pattern

* remove molmoact2 processor override from factory

* guard molmoact2 transformers imports

* guard molmoact2 processor transformers import

* add scipy dependency to molmoact2 extra

* use a single molmoact2 action queue

* move molmoact2 config logic into config

* fix molmoact2 hf image key resolution

* load molmoact2 without remote code

* lazy import molmoact2 scipy

* format molmoact2 files

* skip molmoact2 tests without optional deps

* fix molmoact2 pre-commit checks

* validate molmoact2 gripper range
 2026-05-27 18:58:37 +02:00