| --- |
| license: apache-2.0 |
| base_model: allenai/MolmoAct2-LIBERO |
| tags: |
| - robotics |
| - vision-language-action |
| - tensorrt |
| - jetson |
| - molmoact2 |
| - libero |
| - edge-inference |
| --- |
| |
| # MolmoAct2 LIBERO engines for Jetson AGX Thor |
|
|
| Prebuilt TensorRT engines for running |
| [`allenai/MolmoAct2-LIBERO`](https://huggingface.co/allenai/MolmoAct2-LIBERO) |
| with [vla-edge](https://github.com/Agents2AgentsAI/vla-edge). This is the |
| configuration used for our 2,000-episode LIBERO evaluation. |
|
|
| With the FP8 vision engine enabled, it scored **97.2% overall**, matching the |
| MolmoAct2 paper result within sampling noise. See the |
| [performance writeup](https://agents2agents.ai/blog/molmoact2-jetson-thor) for |
| the methodology and per-suite results. |
|
|
| ## Download and verify |
|
|
| This repository is about 10.5 GB. |
|
|
| ```bash |
| hf download agents2agents/MolmoAct2-LIBERO-Jetson-Thor \ |
| --local-dir vla-edge-libero |
| cd vla-edge-libero |
| python -c "from vla_edge.backends.tensorrt import artifacts; \ |
| artifacts.check_compatible('.'); artifacts.verify_checksums('.'); \ |
| print('bundle verified')" |
| ``` |
|
|
| ## Run |
|
|
| ```bash |
| vla-edge-serve --embodiment libero --backend tensorrt \ |
| --engine-dir /path/to/vla-edge-libero/libero --fast-vision |
| ``` |
|
|
| The public API expects two images named `image` and `wrist_image`, plus the |
| eight-value LIBERO state vector. The startup warmup executes every compiled |
| stage. |
|
|
| ## Hardware and contents |
|
|
| These plans require an NVIDIA Jetson AGX Thor Developer Kit with JetPack R39 |
| rev 2.1 and TensorRT 10.16.2.10. |
|
|
| ```text |
| libero/ fixed 704-token engines and FP8 vision option |
| host/libero/ processor, normalization, embeddings, and flow weights |
| MANIFEST.json compatibility requirements and checksums |
| ``` |
|
|
| Serving this bundle is local and does not download the upstream checkpoint. |
|
|
| ## License |
|
|
| Apache-2.0. See [LICENSE](LICENSE) and [NOTICE](NOTICE). |
|
|
| The plans embed weights from `allenai/MolmoAct2-LIBERO`, released by the Allen |
| Institute for AI under Apache-2.0. The conversion changes execution, not the |
| checkpoint parameters. |
|
|
