metadata
license: apache-2.0
tags:
- robotics
- vla
- pi0
- droid
MolmoBot-Pi0 DROID — absolute joint-pose full fine-tune
Full fine-tune of MolmoBot-Pi0 (PaliGemma-decoder VLA) on the filtered DROID
mixture (shrg7/droid-equad-stage-1, LeRobot v3.0), with absolute joint-pose
action targets (arm[t] = q[t+1], 7 arm joints + gripper).
- Base: MolmoBot-Pi0-DROID
- Config:
molmobot_pi0_lerobot_droid_absjoint - Checkpoint: step 5000 (flat pi0 state dict)
- Vision tower frozen; decoder + action expert + projections trained.
assets/ holds the normalization stats (norm_stats) and train config the eval
policy loads. metadata.pt is the trainer metadata. Load model.safetensors
into a plain PI0Pytorch.