Does MolmoAct2 run on Bimanual SO-100/SO-101?

partial

T3 · community reportedlast verified 2026-10-25 · todayLeRobot

Scope: Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source.

Capabilities

Capability	State	Evidence
Train / fine-tune	works	ev-hub-mrc4t-molmoact2
Real-robot inference	no verified evidence	—
Simulation inference	no verified evidence	—
Teleop + record	no verified evidence	—

Evidence 1 source; the cell shows the highest tier

T3 · community reportedhub-checkpointsource 2026-09-19verified 2026-10-25 (today)
config.json type=molmoact2; train_config.json dataset MrC4t/bimanual_toy_bin (2000 steps), whose meta/info.json robot_type=bi_so_follower (46 episodes). Card has no rollout results.
https://huggingface.co/MrC4t/molmoact2_bi_so_bin5

MolmoAct2 inference speed by hardware robot-independent · inference cost only

Compute	Runtime	Precision	Cams	p50 / p95 ms	Inference	Mem	Platform	Source
H100 80GB	PyTorch eager	bf16	2	—	—	13 GB	lerobot 0.6.1 conditions os: Ubuntu 22.04 (repo tested with) · memory_sampling: nvidia-smi peak Inference memory only (12.1 GiB peak GPU memory = 13.0 GB); no latency reported. LIBERO with two RGB cameras, chunk_size=10, 8 flow timesteps. Not task success.	T3 · community reported

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History

No committed history yet. Source file: data/compat/bi-so__molmoact2.yaml