MolmoAct2 NEXTAGE Forceps
This is a full fine-tune of allenai/MolmoAct2 for a bimanual NEXTAGE robot performing a surgical forceps handover task.
Training
- Dataset: Michi-Tsubaki/hand_over_the_forceps_to_the_hand
- Training steps: 3,000
- Global batch size: 64
- Observation cameras:
observation.images.top,observation.images.right_wrist - Robot state:
observation.state - Control mode: absolute joint position
- Action horizon / executed steps: 30 / 30
- Normalization tag:
nextage_forceps
The repository contains the continuous action expert and the embodiment-specific
normalization metadata in norm_stats.json. Loading the model requires
trust_remote_code=True because the MolmoAct2 Transformers implementation is included
with the checkpoint.
Intended use and safety
This checkpoint is intended for research on the NEXTAGE setup and action convention described above. It is not a general-purpose robot policy. Validate outputs offline and in simulation before hardware use. Apply controller-side joint, velocity, workspace, torque, and contact-force limits; keep an emergency stop available; and operate under human supervision.