WorldFoundry
English中文

Embodied · vla · vla.action_prediction · vla.policy_rollout · robot_policy

MolmoAct2

allenai

WorldFoundry in-tree MolmoAct2 runtime lives under worldfoundry/synthesis/action_generation/molmoact2 and no longer depends on the external molmoact2 checkout at runtime.

Runner verifiedUnified environmentmolmoact2

Build your run

Choose a recorded variant, then copy the exact setup or inspection command.

worldfoundry.pipeline
Taskvla.policy_rollout
Environmentworldfoundry-unified-cu128
DeviceCUDA 12.8
worldfoundry-eval evaluate \
  --mode model \
  --model-id molmoact2-droid \
  --model-runner worldfoundry:pipeline \
  --model-manifest-dir worldfoundry/data/models/catalog \
  --requests-path tmp/requests.jsonl \
  --output-dir tmp/model_eval/molmoact2-droid \
  --metric artifact_count \
  --json
01

Compatibility & versions

Manifest-backed recipe

Integration
in tree checkpoint runtime static verified
Runner evidence
verified
Environment
worldfoundry-unified-cu128
Python
3.11
CUDA
CUDA 12.8
PyTorch
torch
Source revision
—
Checkpoint revision
—
Runtime profile
molmoact2
Pipeline binding
molmoact2
Runner
worldfoundry.pipeline
Pipeline target
worldfoundry.pipelines.component_pipelines:MolmoAct2Pipeline
Backend stage
in_tree_runtime
Runtime status
in_tree_molmoact2_hf_predict_action_gpu_validated
Driver status
compatible
Environment kind
Unified environment
02

Install environment

The environment resolver reads the recorded profile and chooses the unified or dedicated environment shown here.

bash scripts/setup/model_env_install.sh --model molmoact2-droid
Package constraints 10
  • torch
  • torchvision
  • transformers>=4.57,<4.58
  • accelerate>=1.0
  • safetensors>=0.4
  • pillow>=10
  • numpy>=1.26,<3
  • einops>=0.7
  • sentencepiece>=0.2
  • protobuf>=4.25
Conda packages 2
  • python
  • pip
03

Checkpoints & assets

Run the local check before allocating compute. Gated, private, and license fields below come directly from the checkpoint manifest.

worldfoundry-eval zoo model-download --model-id molmoact2 --check-local --json
allenai/MolmoAct2-DROID
Revision
—
License
apache-2.0
Gated
—
Private
—
allenai/MolmoAct2-BimanualYAM
Revision
—
License
apache-2.0
Gated
—
Private
—
allenai/MolmoAct2-SO100_101
Revision
—
License
apache-2.0
Gated
—
Private
—
allenai/MolmoAct2-LIBERO
Revision
—
License
apache-2.0
Gated
—
Private
—
allenai/MolmoAct2-Think-LIBERO
Revision
—
License
apache-2.0
Gated
—
Private
—
allenai/MolmoAct2
Revision
—
License
—
Gated
—
Private
—
allenai/MolmoAct2-Think
Revision
—
License
—
Gated
—
Private
—
04

Launch & outputs

The generated command uses the shared evaluation boundary and writes durable result manifests and artifacts.

worldfoundry-eval evaluate \
  --mode model \
  --model-id molmoact2-droid \
  --model-runner worldfoundry:pipeline \
  --model-manifest-dir worldfoundry/data/models/catalog \
  --requests-path tmp/requests.jsonl \
  --output-dir tmp/model_eval/molmoact2-droid \
  --metric artifact_count \
  --json

Input contract

FieldRecorded contract
actionsaction_chunk, robot_action
camera_keysexternal_cam, external_cam_2, wrist_cam
default_embodimentdroid
imageRequired
instructionRequired
norm_tagfranka_droid
promptRequired
stateRequired
state_dim8
videoOptional

Artifact contract

Artifact kindFilename / path
action_trace—
action_tracemolmoact2_action_trace.json
05

Evidence & sources

Catalog integration, native-demo parity, and runner parity are independent records.

Integration
in tree checkpoint runtime static verified
Runner evidence
verified
Native demo evidence
Not recorded
Validation imports
numpy, PIL, torch, torchvision, transformers
Recipe provenance
worldfoundry/data/models/catalog/vla_va_wam/molmoact2.yamlGitHubhttps://github.com/allenai/molmoact2Hugging Facehttps://huggingface.co/allenai/MolmoAct2Hugging Facehttps://huggingface.co/allenai/MolmoAct2-ThinkHugging Facehttps://huggingface.co/allenai/MolmoAct2-DROIDHugging Facehttps://huggingface.co/allenai/MolmoAct2-BimanualYAMHugging Facehttps://huggingface.co/allenai/MolmoAct2-SO100_101Hugging Facehttps://huggingface.co/allenai/MolmoAct2-LIBEROHugging Facehttps://huggingface.co/allenai/MolmoAct2-Think-LIBERO