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feat: MolmoAct2 first party implementation - #809

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alfieroddan merged 240 commits into
open-edge-platform:mainfrom
alfieroddan:ar/molmoact2
Sep 17, 2026
Merged

alfieroddan merged 240 commits into
open-edge-platform:mainfrom
alfieroddan:ar/molmoact2

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@alfieroddan

@alfieroddan alfieroddan commented Jul 14, 2026

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Description

This PR integrates MolmoACT2 as a first party policy.

Useful links:

Policy Design Changes

Implemented following the new policy design PR - #1040

Future PRs

  • Enable RTC
  • Enable depth modality in PAS - then we can enable MolmoAct2-Think

Unrelated Changes

  • Gymnasium
    • In order to adapt LIBERO benchmark to the pretrained policy, we've added a camera re-mapping. I've extended this to all gyms.
    • We've also added a to device functionality, this ensures the output of the benchmark is compatible with the policy.

Runtime

There is a sister PR in the other package - openvinotoolkit/physicalai#234

@samet-akcay samet-akcay added this to the Physical AI Studio v0.2.0 milestone Sep 15, 2026
samet-akcay
samet-akcay previously approved these changes Sep 16, 2026
Comment thread library/src/physicalai/policies/molmoact2/pretrained_utils.py Fixed
Comment thread library/src/physicalai/policies/molmoact2/pretrained_utils.py Fixed
Comment thread library/src/physicalai/policies/molmoact2/pretrained_utils.py Fixed
Comment thread library/src/physicalai/policies/molmoact2/pretrained_utils.py Fixed
Comment thread library/src/physicalai/policies/molmoact2/pretrained_utils.py Fixed
Comment thread library/src/physicalai/policies/molmoact2/processors/utils.py Fixed
Comment thread library/src/physicalai/policies/molmoact2/processors/utils.py Fixed
Comment thread library/src/physicalai/policies/molmoact2/processors/utils.py Fixed
Comment thread library/src/physicalai/policies/molmoact2/processors/utils.py Fixed
Comment thread library/src/physicalai/policies/molmoact2/processors/utils.py Fixed
Comment thread library/pyproject.toml Outdated
@alfieroddan
alfieroddan enabled auto-merge (squash) September 17, 2026 14:12
@alfieroddan
alfieroddan merged commit d3c0dbd into open-edge-platform:main Sep 17, 2026
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9 participants