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ASethi04/MolmoAct2-BimanualYAM-freshbase-rotcontract-umi75-teleop25-ee20

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MolmoAct2-BimanualYAM-freshbase-rotcontract-umi75-teleop25-ee20

Fresh-base molmoact2 EE20/H24 research checkpoint, trained for 12,000 optimizer steps with seed 1000.

—UMI share: 75%
—teleop share: 25%
—UMI dataset: brandonyang/dual-lidar-umi-independent@a95b079b2b3dc73a912ecd12967f22f825d04fa8
—teleop dataset: brandonyang/yam-ultrawide-teleop@e0fae691e2eee74430dd463adf8e17180bc735e9
—task: pick up oranges and place them in the bowl
—rotation contraction: left=0.6034407436097629, right=0.5799117511664429 (UMI orientation targets only)
—action per arm: xyz + first two rotation-matrix rows + absolute future normalized gripper
—transform: inverse(T_t) @ T_(t+k) independently for k=1..24
—arm order: left, then right
—no terminal padding; execute exactly H24

The SO(3) contraction is part of the learned UMI target, not a frame conversion. Execute the predicted R6D rotations directly through the normal EE-to-IK path. Do not divide predicted rotation vectors by the scales or otherwise decontract them before IK.

This is a research checkpoint. Hardware use still requires the deployment-side IK, joint/collision limits, I2RT success checks, and the normal physical safety procedure. Pin the immutable Hub revision rather than main.