MolmoAct2 vs flow-teacher-80k vs state-copy — same frames
MolmoAct2 out-of-band 3-policy comparison — record-only
panel: reports/eval__molmoact2_so100_release__panel_curated_v0_k4l2_oob.npz (25,800 rows, 17,204 core)
molmoact2: allenai/MolmoAct2-SO100_101 — Molmo2-ER trunk + their flow
action expert; their predict_action end-to-end, continuous mode,
10-step Euler, bf16, seed = global concat index
flow teacher 80k: banked bijou_flow_artrunk_h1024@80000 panel npzs —
Gemma-4-E2B trunk (frozen, AR-pretrained) + flow expert h1024
(top-10-tickets = our best decode config; stable-key single draw)
ar 40k / ar 60k-cont: Molmo2-4B trunk, AR decoder;
er 60k@15000: Molmo2-ER trunk, AR decoder (mid-training)
PRIMARY WINDOW: chunk steps 0-29 (their native 30-step / 1.0 s horizon);
our full-50 numbers are secondary and never quoted against theirs
contamination: 245 of 878 panel repos are in their
SO-100/101 fine-tune mixture = 5332 core frames
CAVEAT: our arms trained on this panel's repo distribution (holdout
episodes, same repos) — 'clean' is repo-level OOD for MolmoAct2 only;
the contaminated split is the closest to a fair fight
excluded (owner amendment 13:14Z): ['willnorris/bbox-2'] — 24 frames (16 core), wraparound-unit truth
prereg: posts/2026-08-10-prereg-molmoact2-oob-panel.md
Matched-window chunk MAE (steps 0-29 = 1.0 s, core frames; clean = repos absent from their SO-100/101 fine-tune mix)
| policy | pooled (17188) | clean (11856) | contaminated (5332) | first |
|---|
| flow teacher 80k top-10-tickets — Gemma-4-E2B trunk (frozen, AR-pretrained) + flow expert h1024 (Heun-30) | 3.9024 | 3.9701 | 3.7526 | 1.3638 |
| flow teacher 80k mean-of-10 draws (seating keying) — Gemma-4-E2B trunk + flow expert h1024 (Heun-30) | 4.0547 | 4.1243 | 3.9006 | 1.4050 |
| flow teacher 80k stable-key — Gemma-4-E2B trunk (frozen, AR-pretrained) + flow expert h1024 (Heun-30) | 5.0642 | 5.1659 | 4.8392 | 1.9152 |
| flow teacher 80k heun-30 original single-draw — Gemma-4-E2B trunk + flow expert h1024 | 5.0937 | 5.2014 | 4.8554 | 1.9129 |
| snapflow student 30k 1-NFE single draw — Gemma-4-E2B trunk + distilled flow expert (1 Euler step) | 4.2919 | 4.3733 | 4.1119 | 1.6840 |
| MolmoAct2 SO100_101 — Molmo2-ER trunk + their flow action expert | 13.8677 | 16.9715 | 7.0027 | 9.9410 |
| state-copy — no model (repeat current state) | 8.3182 | 8.5752 | 7.7499 | 2.5971 |
| ar 40k endpoint — Molmo2-4B trunk, AR decoder | 4.5635 | 4.6766 | 4.3135 | 2.1598 |
| ar 60k continuation — Molmo2-4B trunk, AR decoder | 4.4649 | 4.5775 | 4.2157 | 2.0487 |
| er 60k @15000 — Molmo2-ER trunk, AR decoder (mid-training) | 5.8942 | 6.0387 | 5.5746 | 3.5314 |
Paired per-frame Δ chunk MAE, seeded bootstrap CI95 (matched window)
| read | split | Δ mean | CI95 | n | classification |
|---|
| MolmoAct2 − flow teacher 80k top-10-tickets — Gemma-4-E2B trunk (frozen, AR-pretrained) + flow expert h1024 (Heun-30) | pooled | +9.9992 | [+9.8281, +10.1639] | 17188 | MOLMOACT2-WORSE |
| MolmoAct2 − flow teacher 80k top-10-tickets — Gemma-4-E2B trunk (frozen, AR-pretrained) + flow expert h1024 (Heun-30) | clean | +13.0144 | [+12.8037, +13.2234] | 11856 | MOLMOACT2-WORSE |
| MolmoAct2 − flow teacher 80k top-10-tickets — Gemma-4-E2B trunk (frozen, AR-pretrained) + flow expert h1024 (Heun-30) | contaminated | +3.2948 | [+3.1122, +3.4824] | 5332 | MOLMOACT2-WORSE |
| MolmoAct2 − flow teacher 80k stable-key — Gemma-4-E2B trunk (frozen, AR-pretrained) + flow expert h1024 (Heun-30) | pooled | +8.8658 | [+8.6922, +9.0344] | 17188 | MOLMOACT2-WORSE |
| MolmoAct2 − flow teacher 80k stable-key — Gemma-4-E2B trunk (frozen, AR-pretrained) + flow expert h1024 (Heun-30) | clean | +11.8493 | [+11.6349, +12.0585] | 11856 | MOLMOACT2-WORSE |
| MolmoAct2 − flow teacher 80k stable-key — Gemma-4-E2B trunk (frozen, AR-pretrained) + flow expert h1024 (Heun-30) | contaminated | +2.2319 | [+2.0422, +2.4255] | 5332 | MOLMOACT2-WORSE |
| MolmoAct2 − flow teacher 80k mean-of-10 draws (seating keying) — Gemma-4-E2B trunk + flow expert h1024 (Heun-30) | pooled | +9.8510 | [+9.6807, +10.0165] | 17188 | MOLMOACT2-WORSE |
| MolmoAct2 − flow teacher 80k mean-of-10 draws (seating keying) — Gemma-4-E2B trunk + flow expert h1024 (Heun-30) | clean | +12.8644 | [+12.6563, +13.0726] | 11856 | MOLMOACT2-WORSE |
| MolmoAct2 − flow teacher 80k mean-of-10 draws (seating keying) — Gemma-4-E2B trunk + flow expert h1024 (Heun-30) | contaminated | +3.1505 | [+2.9700, +3.3380] | 5332 | MOLMOACT2-WORSE |
| MolmoAct2 − snapflow student 30k 1-NFE single draw — Gemma-4-E2B trunk + distilled flow expert (1 Euler step) | pooled | +9.6140 | [+9.4437, +9.7787] | 17188 | MOLMOACT2-WORSE |
| MolmoAct2 − snapflow student 30k 1-NFE single draw — Gemma-4-E2B trunk + distilled flow expert (1 Euler step) | clean | +12.6158 | [+12.4038, +12.8245] | 11856 | MOLMOACT2-WORSE |
| MolmoAct2 − snapflow student 30k 1-NFE single draw — Gemma-4-E2B trunk + distilled flow expert (1 Euler step) | contaminated | +2.9394 | [+2.7606, +3.1260] | 5332 | MOLMOACT2-WORSE |
| MolmoAct2 − flow teacher 80k heun-30 original single-draw — Gemma-4-E2B trunk + flow expert h1024 | pooled | +8.8380 | [+8.6661, +9.0091] | 17188 | MOLMOACT2-WORSE |
| MolmoAct2 − flow teacher 80k heun-30 original single-draw — Gemma-4-E2B trunk + flow expert h1024 | clean | +11.8152 | [+11.5987, +12.0291] | 11856 | MOLMOACT2-WORSE |
| MolmoAct2 − flow teacher 80k heun-30 original single-draw — Gemma-4-E2B trunk + flow expert h1024 | contaminated | +2.2181 | [+2.0296, +2.4109] | 5332 | MOLMOACT2-WORSE |
| MolmoAct2 − ar 40k endpoint — Molmo2-4B trunk, AR decoder | pooled | +9.3498 | [+9.1756, +9.5172] | 17188 | MOLMOACT2-WORSE |
| MolmoAct2 − ar 40k endpoint — Molmo2-4B trunk, AR decoder | clean | +12.3215 | [+12.1083, +12.5349] | 11856 | MOLMOACT2-WORSE |
| MolmoAct2 − ar 40k endpoint — Molmo2-4B trunk, AR decoder | contaminated | +2.7421 | [+2.5559, +2.9339] | 5332 | MOLMOACT2-WORSE |
| MolmoAct2 − ar 60k continuation — Molmo2-4B trunk, AR decoder | pooled | +9.4449 | [+9.2733, +9.6126] | 17188 | MOLMOACT2-WORSE |
| MolmoAct2 − ar 60k continuation — Molmo2-4B trunk, AR decoder | clean | +12.4166 | [+12.2036, +12.6314] | 11856 | MOLMOACT2-WORSE |
| MolmoAct2 − ar 60k continuation — Molmo2-4B trunk, AR decoder | contaminated | +2.8371 | [+2.6503, +3.0305] | 5332 | MOLMOACT2-WORSE |
| MolmoAct2 − er 60k @15000 — Molmo2-ER trunk, AR decoder (mid-training) | pooled | +8.0503 | [+7.8772, +8.2211] | 17188 | MOLMOACT2-WORSE |
| MolmoAct2 − er 60k @15000 — Molmo2-ER trunk, AR decoder (mid-training) | clean | +10.9922 | [+10.7767, +11.2042] | 11856 | MOLMOACT2-WORSE |
| MolmoAct2 − er 60k @15000 — Molmo2-ER trunk, AR decoder (mid-training) | contaminated | +1.5087 | [+1.3073, +1.7107] | 5332 | MOLMOACT2-WORSE |
Secondary: our arms on the full 50-step chunk (never vs theirs) — as-banked vs willnorris/bbox-2 excluded (the exclusion effect)
| policy | chunk_mae (50, banked) | chunk_mae (50, excl bbox-2) | bbox-2 effect | first_mae (banked) |
|---|
| flow teacher 80k top-10-tickets — Gemma-4-E2B trunk (frozen, AR-pretrained) + flow expert h1024 (Heun-30) | 5.1847 | 5.1127 | +0.0721 | 1.3831 |
| flow teacher 80k stable-key — Gemma-4-E2B trunk (frozen, AR-pretrained) + flow expert h1024 (Heun-30) | 6.5997 | 6.5201 | +0.0796 | 1.9355 |
| flow teacher 80k mean-of-10 draws (seating keying) — Gemma-4-E2B trunk + flow expert h1024 (Heun-30) | 5.3645 | 5.2855 | +0.0790 | 1.4241 |
| snapflow student 30k 1-NFE single draw — Gemma-4-E2B trunk + distilled flow expert (1 Euler step) | 5.6036 | 5.5282 | +0.0754 | 1.7039 |
| flow teacher 80k heun-30 original single-draw — Gemma-4-E2B trunk + flow expert h1024 | 6.6232 | 6.5488 | +0.0745 | 1.9331 |
| ar 40k endpoint — Molmo2-4B trunk, AR decoder | 6.0079 | 5.9043 | +0.1036 | 2.1871 |
| ar 60k continuation — Molmo2-4B trunk, AR decoder | 5.8602 | 5.7780 | +0.0823 | 2.0718 |
| er 60k @15000 — Molmo2-ER trunk, AR decoder (mid-training) | 7.5283 | 7.4519 | +0.0765 | 3.5590 |
Per-motor matched-window chunk MAE (core frames)
| policy | shoulder_pan | shoulder_lift | elbow_flex | wrist_flex | wrist_roll | gripper |
|---|
| snapflow80k top10tickets | 2.53 | 5.12 | 5.36 | 4.14 | 3.21 | 3.06 |
| snapflow80k stablekey | 3.35 | 6.62 | 7.00 | 5.41 | 4.26 | 3.74 |
| flow80k draws10 seating | 2.63 | 5.33 | 5.60 | 4.34 | 3.36 | 3.08 |
| snapflow student 30k 1nfe | 2.80 | 5.64 | 5.91 | 4.61 | 3.59 | 3.20 |
| snapflow80k heun30 | 3.40 | 6.72 | 7.05 | 5.46 | 4.25 | 3.68 |
| ar_40k | 2.99 | 5.96 | 6.25 | 4.86 | 3.90 | 3.42 |
| ar_60k-cont | 2.93 | 5.82 | 6.10 | 4.80 | 3.85 | 3.30 |
| er_60k@15000 | 3.96 | 7.87 | 8.14 | 6.16 | 5.15 | 4.08 |
| MolmoAct2 [molmo2-ER] | 6.27 | 26.39 | 14.23 | 12.00 | 17.70 | 6.62 |
| state-copy | 5.52 | 12.95 | 11.60 | 7.72 | 5.33 | 6.80 |
MAE by chunk timestep — all models (dotted line = their 30-step horizon; MolmoAct2 has no prediction past it)
Sample predictions (48 of 17188 core frames, evenly strided per split; MolmoAct2's line stops at step 30 — its native horizon). Legend is under each chart.
Samples — clean (repos NOT in their fine-tune mixture) (24 of 11856 frames)
0x00raghu/toffee_blue — episode 13, frame 36 (global index 4141)
task: toffee_blue
state: [2.9, 187.6, 179.9, 61.9, -4.1, 0.7]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 0.24 | snapflow80k stablekey: 13.66 | flow80k draws10 seating: 4.05 | snapflow student 30k 1nfe: 3.13 | snapflow80k heun30: 0.49 | ar_40k: 0.40 | ar_60k-cont: 0.31 | er_60k@15000: 1.55 | MolmoAct2 [molmo2-ER]: 1.32 | state-copy: 0.49
Cidoyi/so100_all_notes — episode 20, frame 156 (global index 163555)
task: Play LA
state: [30.8, 117.7, 149.2, -53.1, -179.1, 102.7]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 0.90 | snapflow80k stablekey: 2.16 | flow80k draws10 seating: 0.95 | snapflow student 30k 1nfe: 0.74 | snapflow80k heun30: 1.59 | ar_40k: 1.30 | ar_60k-cont: 1.52 | er_60k@15000: 2.48 | MolmoAct2 [molmo2-ER]: 40.11 | state-copy: 0.54
FeiYjf/new_Dataset — episode 9, frame 16 (global index 273906)
task: Pick up the blue cube.
state: [6.7, 119.6, 111.0, 98.5, 102.5, 0.6]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 0.83 | snapflow80k stablekey: 0.35 | flow80k draws10 seating: 2.33 | snapflow student 30k 1nfe: 0.95 | snapflow80k heun30: 1.24 | ar_40k: 0.87 | ar_60k-cont: 1.78 | er_60k@15000: 1.98 | MolmoAct2 [molmo2-ER]: 17.27 | state-copy: 0.53
Hale-Sage/Grab_cube_task — episode 20, frame 644 (global index 322329)
task: Grab the cube
state: [-1.0, -99.9, -97.0, 5.2, -5.1, 50.8]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 0.26 | snapflow80k stablekey: 0.46 | flow80k draws10 seating: 0.23 | snapflow student 30k 1nfe: 0.83 | snapflow80k heun30: 0.52 | ar_40k: 0.29 | ar_60k-cont: 0.32 | er_60k@15000: 0.57 | MolmoAct2 [molmo2-ER]: 51.14 | state-copy: 0.89
LeRobot-worldwide-hackathon/159-LeBabybot-peg_in_hole — episode 152, frame 262 (global index 416775)
task: pick and place the red cube on the square hole
state: [40.1, 45.8, -24.9, 82.0, 31.1, 19.2]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 8.88 | snapflow80k stablekey: 5.79 | flow80k draws10 seating: 8.35 | snapflow student 30k 1nfe: 8.76 | snapflow80k heun30: 7.80 | ar_40k: 8.32 | ar_60k-cont: 8.44 | er_60k@15000: 11.44 | MolmoAct2 [molmo2-ER]: 25.41 | state-copy: 16.10
Matlef/test3 — episode 21, frame 310 (global index 495501)
task: Put a box in an other box
state: [-3.1, 169.8, 167.9, 55.6, -67.6, -0.1]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 1.56 | snapflow80k stablekey: 1.51 | flow80k draws10 seating: 1.59 | snapflow student 30k 1nfe: 1.77 | snapflow80k heun30: 2.16 | ar_40k: 1.50 | ar_60k-cont: 3.04 | er_60k@15000: 1.75 | MolmoAct2 [molmo2-ER]: 3.63 | state-copy: 7.48
Ryosei2/0707_SingleCube — episode 19, frame 7 (global index 586526)
task: Pick up Objects on the white dish and place it on the black pot.
state: [-3.9, 184.3, 176.7, 50.7, 0.4, 0.0]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 6.97 | snapflow80k stablekey: 6.44 | flow80k draws10 seating: 7.44 | snapflow student 30k 1nfe: 7.41 | snapflow80k heun30: 9.11 | ar_40k: 5.15 | ar_60k-cont: 4.97 | er_60k@15000: 9.42 | MolmoAct2 [molmo2-ER]: 9.29 | state-copy: 10.85
aidinism/arm-record-47 — episode 52, frame 406 (global index 689877)
task: Grab the Blue cube
state: [-0.4, -98.2, -97.2, -10.7, 4.4, 49.2]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 0.36 | snapflow80k stablekey: 0.48 | flow80k draws10 seating: 0.35 | snapflow student 30k 1nfe: 0.65 | snapflow80k heun30: 0.46 | ar_40k: 1.00 | ar_60k-cont: 1.07 | er_60k@15000: 1.23 | MolmoAct2 [molmo2-ER]: 53.21 | state-copy: 0.48
carpit680/giraffe_sock_demo_1 — episode 38, frame 79 (global index 806457)
task: Grasp a sock off the floor.
state: [2.4, 32.0, 41.5, 63.6, 6.0, 9.7]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 13.74 | snapflow80k stablekey: 14.73 | flow80k draws10 seating: 13.68 | snapflow student 30k 1nfe: 13.36 | snapflow80k heun30: 14.83 | ar_40k: 5.26 | ar_60k-cont: 4.50 | er_60k@15000: 11.67 | MolmoAct2 [molmo2-ER]: 8.49 | state-copy: 6.73
danielkorth/whiteboard-marker — episode 15, frame 224 (global index 900843)
task: put the whiteboard marker into the black bag
state: [-6.6, -40.6, 22.1, 88.8, -5.2, 2.8]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 2.75 | snapflow80k stablekey: 4.36 | flow80k draws10 seating: 3.11 | snapflow student 30k 1nfe: 2.40 | snapflow80k heun30: 3.55 | ar_40k: 2.73 | ar_60k-cont: 4.99 | er_60k@15000: 6.30 | MolmoAct2 [molmo2-ER]: 41.98 | state-copy: 24.12
dopaul/1500_chess_moves — episode 1110, frame 142 (global index 947909)
task: Move the chess piece from red to blue
state: [28.0, -42.4, 36.0, 88.1, -1.5, 7.9]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 2.65 | snapflow80k stablekey: 2.58 | flow80k draws10 seating: 2.21 | snapflow student 30k 1nfe: 3.01 | snapflow80k heun30: 2.53 | ar_40k: 3.35 | ar_60k-cont: 4.24 | er_60k@15000: 1.46 | MolmoAct2 [molmo2-ER]: 19.39 | state-copy: 6.15
dragon-95/so100_sorting_3 — episode 154, frame 346 (global index 1006429)
task: Pick up the object from box A and place it in box B.
state: [75.1, 80.0, 99.3, 30.7, -127.4, 5.0]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 6.38 | snapflow80k stablekey: 6.28 | flow80k draws10 seating: 5.30 | snapflow student 30k 1nfe: 6.30 | snapflow80k heun30: 7.66 | ar_40k: 4.08 | ar_60k-cont: 7.61 | er_60k@15000: 12.07 | MolmoAct2 [molmo2-ER]: 18.91 | state-copy: 17.82
gribok201/150episodes6 — episode 32, frame 34 (global index 1071102)
task: Grasp a lego block and put it in the bin.
state: [-9.4, -94.9, 96.9, 73.7, 52.0, 3.0]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 0.68 | snapflow80k stablekey: 18.20 | flow80k draws10 seating: 4.32 | snapflow student 30k 1nfe: 0.82 | snapflow80k heun30: 0.59 | ar_40k: 0.97 | ar_60k-cont: 1.03 | er_60k@15000: 1.67 | MolmoAct2 [molmo2-ER]: 33.17 | state-copy: 0.52
jmrog/record-sweet3 — episode 4, frame 449 (global index 1151254)
task: Grab_the_sweet
state: [10.8, 25.5, 1.4, 28.5, -44.8, 17.5]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 10.67 | snapflow80k stablekey: 10.06 | flow80k draws10 seating: 10.19 | snapflow student 30k 1nfe: 10.17 | snapflow80k heun30: 11.57 | ar_40k: 11.44 | ar_60k-cont: 11.70 | er_60k@15000: 3.97 | MolmoAct2 [molmo2-ER]: 21.32 | state-copy: 13.65
koenvanwijk/orange50-variation-2 — episode 19, frame 20 (global index 1276993)
task: Pick up the orange object and but it in the LEGO box.
state: [-11.7, 114.8, 131.9, 59.9, -51.2, 30.7]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 2.79 | snapflow80k stablekey: 3.04 | flow80k draws10 seating: 2.29 | snapflow student 30k 1nfe: 3.01 | snapflow80k heun30: 2.32 | ar_40k: 3.73 | ar_60k-cont: 2.74 | er_60k@15000: 10.04 | MolmoAct2 [molmo2-ER]: 9.66 | state-copy: 8.22
marmau2/record_pick01 — episode 17, frame 455 (global index 1385692)
task: Grab the red cube
state: [15.4, 8.0, 25.7, 64.5, 12.2, 38.6]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 2.46 | snapflow80k stablekey: 2.14 | flow80k draws10 seating: 2.95 | snapflow student 30k 1nfe: 2.48 | snapflow80k heun30: 4.49 | ar_40k: 1.60 | ar_60k-cont: 2.18 | er_60k@15000: 3.87 | MolmoAct2 [molmo2-ER]: 9.76 | state-copy: 2.25
nduque/robustness_e9_3 — episode 114, frame 125 (global index 1461037)
task: Grasp a green dice and put it in the bin.
state: [-1.0, 124.7, 105.4, 63.5, 4.1, 43.7]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 1.83 | snapflow80k stablekey: 7.54 | flow80k draws10 seating: 1.89 | snapflow student 30k 1nfe: 2.85 | snapflow80k heun30: 4.09 | ar_40k: 2.32 | ar_60k-cont: 2.74 | er_60k@15000: 2.59 | MolmoAct2 [molmo2-ER]: 7.26 | state-copy: 2.90
psg777/greencube1 — episode 5, frame 233 (global index 1580368)
task: Pick up green cube and drop it in the blue box
state: [-36.7, 12.2, 3.4, 63.3, 9.5, 23.9]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 1.12 | snapflow80k stablekey: 1.20 | flow80k draws10 seating: 1.38 | snapflow student 30k 1nfe: 1.40 | snapflow80k heun30: 1.53 | ar_40k: 3.61 | ar_60k-cont: 2.96 | er_60k@15000: 3.73 | MolmoAct2 [molmo2-ER]: 13.79 | state-copy: 3.17
roboticshack/team2-guess_who_so100_light — episode 31, frame 41 (global index 1651738)
task: Place the card in the slot.
state: [12.6, 123.3, 109.1, 41.9, -96.5, 0.6]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 2.57 | snapflow80k stablekey: 5.08 | flow80k draws10 seating: 3.51 | snapflow student 30k 1nfe: 4.41 | snapflow80k heun30: 7.76 | ar_40k: 3.08 | ar_60k-cont: 2.96 | er_60k@15000: 3.53 | MolmoAct2 [molmo2-ER]: 20.68 | state-copy: 10.64
samsam0510/cube_reorientation_2 — episode 41, frame 759 (global index 1700181)
task: Rotate the object so it aligns with the silhouette on the table.
state: [1.6, 54.5, 66.4, 40.7, -10.5, 0.7]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 0.79 | snapflow80k stablekey: 4.31 | flow80k draws10 seating: 3.31 | snapflow student 30k 1nfe: 1.21 | snapflow80k heun30: 1.14 | ar_40k: 3.34 | ar_60k-cont: 3.10 | er_60k@15000: 1.32 | MolmoAct2 [molmo2-ER]: 2.71 | state-copy: 1.24
shin1107/koch_base_episodes — episode 110, frame 58 (global index 1787697)
task: Base task (160 scenes)
state: [17.4, 86.1, 73.9, 93.0, 68.4, 39.5]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 2.72 | snapflow80k stablekey: 3.52 | flow80k draws10 seating: 3.30 | snapflow student 30k 1nfe: 3.98 | snapflow80k heun30: 3.41 | ar_40k: 3.00 | ar_60k-cont: 3.76 | er_60k@15000: 3.71 | MolmoAct2 [molmo2-ER]: 13.03 | state-copy: 7.00
shuohsuan/grasp_data_400_409 — episode 7, frame 264 (global index 1847785)
task: grasp the red cube
state: [-26.7, 47.5, -36.1, 27.6, 49.5, 40.6]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 0.92 | snapflow80k stablekey: 1.94 | flow80k draws10 seating: 1.25 | snapflow student 30k 1nfe: 1.69 | snapflow80k heun30: 2.74 | ar_40k: 2.29 | ar_60k-cont: 2.28 | er_60k@15000: 3.14 | MolmoAct2 [molmo2-ER]: 16.05 | state-copy: 2.76
sixpigs1/so100_pick_cube_in_box_error — episode 64, frame 5 (global index 1939580)
task: Pick up the red cube and put it in the box without errors.
state: [2.8, 192.0, 180.3, 51.8, -2.6, 0.4]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 2.18 | snapflow80k stablekey: 4.50 | flow80k draws10 seating: 4.59 | snapflow student 30k 1nfe: 5.52 | snapflow80k heun30: 4.31 | ar_40k: 3.23 | ar_60k-cont: 5.89 | er_60k@15000: 10.25 | MolmoAct2 [molmo2-ER]: 4.56 | state-copy: 4.18
wannrrr/etnai — episode 10, frame 102 (global index 2019548)
task: Pick the green block and drop it in the box on the right.
state: [30.0, -8.8, 15.4, 34.6, 2.9, 30.6]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 2.70 | snapflow80k stablekey: 4.78 | flow80k draws10 seating: 2.84 | snapflow student 30k 1nfe: 2.55 | snapflow80k heun30: 2.47 | ar_40k: 3.04 | ar_60k-cont: 4.58 | er_60k@15000: 7.15 | MolmoAct2 [molmo2-ER]: 48.34 | state-copy: 38.94
Samples — contaminated (repos in their fine-tune mixture) (24 of 5332 frames)
00ri/so100_battery — episode 4, frame 5 (global index 5)
task: Grasp a battery and put it in the bin.
state: [-2.3, 189.2, 166.6, 77.2, -3.5, 0.4]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 0.19 | snapflow80k stablekey: 0.41 | flow80k draws10 seating: 0.27 | snapflow student 30k 1nfe: 0.53 | snapflow80k heun30: 0.55 | ar_40k: 0.34 | ar_60k-cont: 0.97 | er_60k@15000: 0.23 | MolmoAct2 [molmo2-ER]: 0.85 | state-copy: 0.28
Bartm3/dice4 — episode 91, frame 538 (global index 53942)
task: Grasp a tape and put it in the bin.
state: [0.5, 191.2, 178.8, 55.2, -14.7, -3.6]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 6.22 | snapflow80k stablekey: 6.61 | flow80k draws10 seating: 6.25 | snapflow student 30k 1nfe: 5.54 | snapflow80k heun30: 6.17 | ar_40k: 8.16 | ar_60k-cont: 8.56 | er_60k@15000: 8.46 | MolmoAct2 [molmo2-ER]: 4.37 | state-copy: 6.23
Chojins/chess_game_001_blue_stereo — episode 224, frame 70 (global index 89208)
task: Move the blue chess pieces to the highlighted squares
state: [11.4, 117.9, 124.5, 77.7, -165.7, 1.8]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 1.38 | snapflow80k stablekey: 2.45 | flow80k draws10 seating: 1.78 | snapflow student 30k 1nfe: 1.55 | snapflow80k heun30: 2.85 | ar_40k: 3.26 | ar_60k-cont: 2.89 | er_60k@15000: 3.69 | MolmoAct2 [molmo2-ER]: 20.88 | state-copy: 10.59
Chojins/chess_game_001_red_stereo — episode 104, frame 129 (global index 113612)
task: Move the red chess pieces to the highlighted squares
state: [-16.0, 106.0, 145.3, 49.8, -146.3, 3.3]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 1.57 | snapflow80k stablekey: 5.00 | flow80k draws10 seating: 1.42 | snapflow student 30k 1nfe: 2.22 | snapflow80k heun30: 3.05 | ar_40k: 1.42 | ar_60k-cont: 2.37 | er_60k@15000: 2.32 | MolmoAct2 [molmo2-ER]: 14.73 | state-copy: 1.67
Chojins/chess_game_009_white — episode 148, frame 116 (global index 154546)
task: Move the blue chess pieces to the highlighted squares.
state: [16.7, 79.9, 123.3, 36.9, -80.5, 12.3]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 1.10 | snapflow80k stablekey: 1.45 | flow80k draws10 seating: 1.20 | snapflow student 30k 1nfe: 1.19 | snapflow80k heun30: 1.14 | ar_40k: 1.02 | ar_60k-cont: 1.15 | er_60k@15000: 2.37 | MolmoAct2 [molmo2-ER]: 3.97 | state-copy: 2.80
Dangvi/soarm100_data — episode 6, frame 327 (global index 195395)
task: Pick up the 2x2 green block and go up the 8x8 blue block.
state: [-4.9, 80.5, 50.7, 103.1, -103.6, 15.8]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 2.62 | snapflow80k stablekey: 3.75 | flow80k draws10 seating: 3.04 | snapflow student 30k 1nfe: 2.91 | snapflow80k heun30: 3.41 | ar_40k: 3.34 | ar_60k-cont: 2.99 | er_60k@15000: 3.85 | MolmoAct2 [molmo2-ER]: 7.17 | state-copy: 6.03
Gano007/so100_second — episode 21, frame 5 (global index 299429)
task: Grasp a yellow box and put it in the bin.
state: [-7.3, 189.0, 110.0, 100.9, -11.8, 0.7]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 1.40 | snapflow80k stablekey: 4.43 | flow80k draws10 seating: 0.82 | snapflow student 30k 1nfe: 2.78 | snapflow80k heun30: 1.78 | ar_40k: 0.70 | ar_60k-cont: 2.31 | er_60k@15000: 0.77 | MolmoAct2 [molmo2-ER]: 4.98 | state-copy: 0.83
Jinheng0130/Lay — episode 1, frame 183 (global index 390991)
task: Grasp the cup and put it on the right side of the table.
state: [30.8, 42.5, 78.9, -45.3, -86.7, 11.2]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 1.07 | snapflow80k stablekey: 1.86 | flow80k draws10 seating: 1.95 | snapflow student 30k 1nfe: 2.47 | snapflow80k heun30: 3.34 | ar_40k: 3.85 | ar_60k-cont: 3.38 | er_60k@15000: 4.93 | MolmoAct2 [molmo2-ER]: 12.92 | state-copy: 3.67
Mohamedal/put_lemon_bowl_data — episode 39, frame 73 (global index 510274)
task: put the lemon in the red bowl.
state: [1.4, 122.2, 118.8, 83.8, -1.0, 49.0]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 2.24 | snapflow80k stablekey: 2.95 | flow80k draws10 seating: 2.45 | snapflow student 30k 1nfe: 1.52 | snapflow80k heun30: 1.75 | ar_40k: 2.51 | ar_60k-cont: 2.09 | er_60k@15000: 3.08 | MolmoAct2 [molmo2-ER]: 3.35 | state-copy: 7.51
VoicAndrei/so100_banana_to_plate_only — episode 73, frame 35 (global index 625001)
task: Pick up the banana and place it on the plate.
state: [9.1, 131.0, 135.7, 50.9, 31.6, 14.1]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 3.53 | snapflow80k stablekey: 4.49 | flow80k draws10 seating: 4.48 | snapflow student 30k 1nfe: 3.58 | snapflow80k heun30: 3.73 | ar_40k: 2.99 | ar_60k-cont: 3.43 | er_60k@15000: 10.84 | MolmoAct2 [molmo2-ER]: 3.79 | state-copy: 28.80
akira-sasaki/akabeko_instruct_v1 — episode 24, frame 20 (global index 693222)
task: Pick up the cube and place it in the box.
state: [6.2, 191.6, 176.7, 67.5, 2.0, -0.2]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 2.60 | snapflow80k stablekey: 3.98 | flow80k draws10 seating: 4.51 | snapflow student 30k 1nfe: 2.21 | snapflow80k heun30: 3.77 | ar_40k: 4.40 | ar_60k-cont: 4.30 | er_60k@15000: 3.78 | MolmoAct2 [molmo2-ER]: 4.90 | state-copy: 4.54
akira-sasaki/akabeko_instruct_v2 — episode 293, frame 116 (global index 709810)
task: Remove the yellow tape from the box.
state: [-4.9, 53.9, 53.3, 72.8, -19.4, 9.1]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 2.85 | snapflow80k stablekey: 3.75 | flow80k draws10 seating: 2.64 | snapflow student 30k 1nfe: 4.55 | snapflow80k heun30: 2.94 | ar_40k: 5.16 | ar_60k-cont: 5.22 | er_60k@15000: 6.49 | MolmoAct2 [molmo2-ER]: 2.81 | state-copy: 9.70
bjb7/so101_berm_build_test_1 — episode 27, frame 549 (global index 787922)
task: Build a berm.
state: [-15.8, 75.1, 119.4, 33.0, 11.9, 2.3]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 3.37 | snapflow80k stablekey: 1.99 | flow80k draws10 seating: 4.45 | snapflow student 30k 1nfe: 1.78 | snapflow80k heun30: 2.68 | ar_40k: 1.74 | ar_60k-cont: 2.70 | er_60k@15000: 2.87 | MolmoAct2 [molmo2-ER]: 5.47 | state-copy: 4.78
charleyong/so100_tic_tac_toe_autoend — episode 86, frame 232 (global index 817263)
task: Place the circle to the center bottom box
state: [-3.3, 107.7, 118.9, 61.9, -75.4, 11.3]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 4.44 | snapflow80k stablekey: 4.68 | flow80k draws10 seating: 5.55 | snapflow student 30k 1nfe: 3.36 | snapflow80k heun30: 3.62 | ar_40k: 7.54 | ar_60k-cont: 3.70 | er_60k@15000: 9.12 | MolmoAct2 [molmo2-ER]: 6.50 | state-copy: 20.60
isadev/bougies2 — episode 6, frame 197 (global index 1099467)
task: grab the candle wick and place it in the tray.
state: [-2.5, 62.1, 81.7, 62.8, 54.2, 10.7]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 0.94 | snapflow80k stablekey: 2.48 | flow80k draws10 seating: 0.96 | snapflow student 30k 1nfe: 0.98 | snapflow80k heun30: 0.93 | ar_40k: 1.19 | ar_60k-cont: 0.91 | er_60k@15000: 1.31 | MolmoAct2 [molmo2-ER]: 2.52 | state-copy: 1.15
jiuyal2/so100_marker — episode 95, frame 311 (global index 1131440)
task: Pick up the blue marker.
state: [-9.3, 62.1, 74.3, 79.5, -73.1, 38.5]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 16.88 | snapflow80k stablekey: 15.71 | flow80k draws10 seating: 18.39 | snapflow student 30k 1nfe: 17.59 | snapflow80k heun30: 19.88 | ar_40k: 17.15 | ar_60k-cont: 15.44 | er_60k@15000: 14.39 | MolmoAct2 [molmo2-ER]: 11.30 | state-copy: 16.16
kevin-nd/so100_test_2 — episode 10, frame 87 (global index 1258313)
task: Pickup cup and make a pile of cup.
state: [-6.2, 187.5, 169.2, 64.0, 5.6, -1.1]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 6.12 | snapflow80k stablekey: 6.87 | flow80k draws10 seating: 6.17 | snapflow student 30k 1nfe: 6.85 | snapflow80k heun30: 6.47 | ar_40k: 2.93 | ar_60k-cont: 2.46 | er_60k@15000: 6.49 | MolmoAct2 [molmo2-ER]: 1.91 | state-copy: 6.96
lirislab/put_caps_into_teabox — episode 21, frame 101 (global index 1322276)
task: Pick the coffee capsule and put it into the top drawer of the teabox
state: [8.6, 85.8, 108.4, 60.5, 10.5, 30.3]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 1.91 | snapflow80k stablekey: 1.73 | flow80k draws10 seating: 1.77 | snapflow student 30k 1nfe: 1.66 | snapflow80k heun30: 1.78 | ar_40k: 1.68 | ar_60k-cont: 1.48 | er_60k@15000: 2.79 | MolmoAct2 [molmo2-ER]: 1.30 | state-copy: 3.63
love3165303/so100_pick_ball_colors2 — episode 17, frame 43 (global index 1364736)
task: Grasp red ball and put it in the yello bin.
state: [9.1, 189.8, 173.8, 76.0, -95.7, 31.2]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 2.85 | snapflow80k stablekey: 6.03 | flow80k draws10 seating: 3.17 | snapflow student 30k 1nfe: 3.19 | snapflow80k heun30: 3.50 | ar_40k: 3.84 | ar_60k-cont: 3.88 | er_60k@15000: 3.83 | MolmoAct2 [molmo2-ER]: 7.40 | state-copy: 17.72
orsoromeo/so101_test22 — episode 20, frame 148 (global index 1472759)
task: Grasp a black cylinder and put it in the bin.
state: [6.8, 116.3, 137.6, 68.8, 87.0, 34.4]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 3.18 | snapflow80k stablekey: 4.53 | flow80k draws10 seating: 3.26 | snapflow student 30k 1nfe: 2.47 | snapflow80k heun30: 2.74 | ar_40k: 3.79 | ar_60k-cont: 3.83 | er_60k@15000: 5.08 | MolmoAct2 [molmo2-ER]: 11.16 | state-copy: 1.45
pietroom/actualeasytask — episode 59, frame 12 (global index 1531224)
task: Grasp the marker and put it in the plastic box.
state: [-0.5, 190.0, 180.3, 44.8, 4.7, -4.0]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 6.48 | snapflow80k stablekey: 8.33 | flow80k draws10 seating: 8.61 | snapflow student 30k 1nfe: 1.82 | snapflow80k heun30: 1.54 | ar_40k: 4.05 | ar_60k-cont: 14.02 | er_60k@15000: 18.86 | MolmoAct2 [molmo2-ER]: 2.91 | state-copy: 1.12
ryanpennings/so100_pegcrate_c3 — episode 38, frame 72 (global index 1661658)
task: Grasp a peg and put it in the crate.
state: [-0.2, 101.5, 110.7, 76.8, 5.9, 0.7]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 3.87 | snapflow80k stablekey: 4.65 | flow80k draws10 seating: 4.49 | snapflow student 30k 1nfe: 4.75 | snapflow80k heun30: 7.57 | ar_40k: 3.67 | ar_60k-cont: 3.28 | er_60k@15000: 7.70 | MolmoAct2 [molmo2-ER]: 3.89 | state-copy: 6.57
shylee/so100_cup — episode 131, frame 35 (global index 1863227)
task: Grasp a dressing and put it in the cup.
state: [9.4, 28.8, 46.1, 70.5, -31.6, 7.0]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 11.61 | snapflow80k stablekey: 15.73 | flow80k draws10 seating: 12.12 | snapflow student 30k 1nfe: 10.82 | snapflow80k heun30: 12.09 | ar_40k: 10.49 | ar_60k-cont: 10.33 | er_60k@15000: 13.55 | MolmoAct2 [molmo2-ER]: 5.68 | state-copy: 23.51
slowturtle99/so100_pick_place_blocks — episode 32, frame 375 (global index 1959610)
task: Pick blocks and place them in the box.
state: [-12.3, 85.4, 121.5, 6.2, -71.2, 17.0]
matched-window (1.0 s) chunk MAE — snapflow80k top10tickets: 3.08 | snapflow80k stablekey: 3.81 | flow80k draws10 seating: 2.80 | snapflow student 30k 1nfe: 2.75 | snapflow80k heun30: 3.28 | ar_40k: 3.80 | ar_60k-cont: 3.40 | er_60k@15000: 4.26 | MolmoAct2 [molmo2-ER]: 2.84 | state-copy: 7.56
