---
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`.