In this tutorial, we walk through MolmoAct step by step and build a practical understanding of how action-reasoning models can reason in space from visual observations. We set up the environment, load the model, prepare multi-view image inputs, and explore how MolmoAct produces depth-aware reasoning, visual traces, and actionable robot outputs from natural language instructions. As we move through the workflow, we run inference and also examine how the model parses actions, visualizes trajectories, and supports more advanced processing pipelines for robotics-oriented tasks.
print("=" * 80)
print("🔧 SECTION 1: INSTALLATION AND SETUP")
print("=" * 80)
import subprocess
import sys
def install_packages():
"""Install all required packages for MolmoAct"""
packages = [
"torch>=2.0.0",
"torchvision",
"transformers==4.52",
"accelerate",
"einops",
"Pillow",
"numpy",
"matplotlib",
"requests",
"scipy",
"huggingface_hub",
]
for package in packages:
print(f"📦 Installing {package}...")
subprocess.check_call([sys.executable, "-m", "pip", "install", "-q", package])
print("✅ All packages installed successfully!")
install_packages()
print("\n" + "=" * 80)
print("📚 SECTION 2: IMPORTS AND CONFIGURATION")
print("=" * 80)
import torch
import numpy as np
import matplotlib.pyplot as plt
from PIL import Image
import requests
from io import BytesIO
from typing import List, Tuple, Dict, Optional, Union
import json
import time
from dataclasses import dataclass
import warnings
import re
warnings.filterwarnings("ignore", category=FutureWarning)
warnings.filterwarnings("ignore", category=UserWarning)
print(f"🖥️ Device: {device}")
if torch.cuda.is_available():
print(f"🎮 GPU: {torch.cuda.get_device_name(0)}")
print(f"💾 GPU Memory: {torch.cuda.get_device_properties(0).total_memory / 1e9:.2f} GB")
print("\n" + "=" * 80)
print("🤖 SECTION 3: MOLMOACT MODEL LOADER")
print("=" * 80)
@dataclass
class MolmoActConfig:
"""Configuration for MolmoAct model"""
model_name: str = "allenai/MolmoAct-7B-D-0812"
torch_dtype: str = "bfloat16"
device_map: str = "auto"
max_new_tokens: int = 256
temperature: float = 0.0
do_sample: bool = FalseWe set up the tutorial and prepared the environment needed to run MolmoAct in Google Colab. We install all required packages, import the core libraries, and configure the runtime to detect whether GPU acceleration is available. We also define the base configuration class that stores the main model settings we use throughout the rest of the tutorial.
class MolmoActModel:
"""
MolmoAct Model Wrapper for Easy Inference
This class provides a high-level interface for:
- Loading and managing the model
- Running inference with proper prompting
- Parsing outputs (depth, trace, actions)
- Batch processing
"""
def __init__(self, config: Optional[MolmoActConfig] = None):
self.config = config or MolmoActConfig()
self.model = None
self.processor = None
self._loaded = False
def load(self) -> None:
"""Load the MolmoAct model and processor"""
if self._loaded:
print("⚠️ Model already loaded!")
return
print(f"🔄 Loading MolmoAct model: {self.config.model_name}")
print(" This may take a few minutes on first run...")
from transformers import AutoModelForImageTextToText, AutoProcessor
dtype = getattr(torch, self.config.torch_dtype)
print(" 📥 Loading model weights...")
self.model = AutoModelForImageTextToText.from_pretrained(
self.config.model_name,
trust_remote_code=True,
torch_dtype=dtype,
device_map=self.config.device_map,
)
print(" 📥 Loading processor...")
try:
self.processor = AutoProcessor.from_pretrained(
self.config.model_name,
trust_remote_code=True,
)
if hasattr(self.processor, 'tokenizer'):
self.processor.tokenizer.padding_side = "left"
except TypeError as e:
if "prompt_templates" in str(e):
print(" ⚠️ Handling custom processor configuration...")
from transformers.dynamic_module_utils import get_class_from_dynamic_module
processor_class = get_class_from_dynamic_module(
"processing_molmoact.MolmoActProcessor",
self.config.model_name,
trust_remote_code=True,
)
from transformers import AutoTokenizer, AutoImageProcessor
tokenizer = AutoTokenizer.from_pretrained(
self.config.model_name,
trust_remote_code=True,
padding_side="left",
)
image_processor = AutoImageProcessor.from_pretrained(
self.config.model_name,
trust_remote_code=True,
)
self.processor = processor_class(
image_processor=image_processor,
tokenizer=tokenizer,
)
else:
raise e
self._loaded = True
print("✅ Model loaded successfully!")
self._print_model_info()
def _print_model_info(self) -> None:
"""Print model information"""
total_params = sum(p.numel() for p in self.model.parameters())
trainable_params = sum(p.numel() for p in self.model.parameters() if p.requires_grad)
print(f"\n📊 Model Statistics:")
print(f" Total Parameters: {total_params / 1e9:.2f}B")
print(f" Trainable Parameters: {trainable_params / 1e9:.2f}B")
print(f" Model dtype: {next(self.model.parameters()).dtype}")
def build_prompt(self, instruction: str) -> str:
"""
Build the reasoning prompt for MolmoAct
The prompt structure is crucial for MolmoAct to generate:
1. Depth perception tokens
2. Visual trajectory trace
3. Action predictions
"""
prompt = (
f"The task is {instruction}. "
"What is the action that the robot should take. "
f"To figure out the action that the robot should take to {instruction}, "
"let's think through it step by step. "
"First, what is the depth map for the first image? "
"Second, what is the trajectory of the end effector in the first image? "
"Based on the depth map of the first image and the trajectory of the end effector in the first image, "
"along with other images from different camera views as additional information, "
"what is the action that the robot should take?"
)
return promptWe begin building the main MolmoAct model wrapper that makes inference easier to manage. We load the model and processor, handle custom processor initialization logic, and print useful model statistics once loading is complete. We also define a prompt-building method that helps us structure the reasoning query to guide the model toward depth, trace, and action generation.
@torch.inference_mode()
def generate(
self,
images: List[Image.Image],
instruction: str,
max_new_tokens: Optional[int] = None,
) -> Dict:
"""
Generate action reasoning from images and instruction
Args:
images: List of PIL Images
instruction: Task instruction
max_new_tokens: Override default max tokens
Returns:
Dictionary containing:
- text: Generated reasoning text
- depth: Parsed depth tokens
- trace: Parsed visual trace coordinates
- action: Parsed action values
"""
if not self._loaded:
raise RuntimeError("Model not loaded! Call .load() first.")
prompt = self.build_prompt(instruction)
max_tokens = max_new_tokens or self.config.max_new_tokens
text = self.processor.apply_chat_template(
[{"role": "user", "content": [dict(type="text", text=prompt)]}],
tokenize=False,
add_generation_prompt=True,
)
inputs = self.processor(
images=[images],
text=text,
padding=True,
return_tensors="pt",
)
inputs = {k: v.to(self.model.device) for k, v in inputs.items()}
with torch.autocast("cuda", enabled=True, dtype=torch.bfloat16):
generated_ids = self.model.generate(
**inputs,
max_new_tokens=max_tokens,
do_sample=self.config.do_sample,
)
generated_tokens = generated_ids[:, inputs['input_ids'].size(1):]
generated_text = self.processor.batch_decode(
generated_tokens,
skip_special_tokens=True,
clean_up_tokenization_spaces=False
)[0]
result = {
"text": generated_text,
"depth": self._safe_parse_depth(generated_text),
"trace": self._safe_parse_trace(generated_text),
"action": self._safe_parse_action(generated_text, unnorm_key="molmoact"),
"action_raw": self._safe_parse_action(generated_text, unnorm_key=None),
}
return result
def _safe_parse_depth(self, text: str) -> List[str]:
"""Safely parse depth tokens from generated text"""
try:
if hasattr(self.model, 'parse_depth'):
return self.model.parse_depth(text)
except Exception:
pass
depth_pattern = r'<DEPTH_START>.*?<DEPTH_END>'
matches = re.findall(depth_pattern, text, re.DOTALL)
return matches if matches else []
def _safe_parse_trace(self, text: str) -> List[List[List[int]]]:
"""Safely parse visual trace coordinates from generated text"""
try:
if hasattr(self.model, 'parse_trace'):
return self.model.parse_trace(text)
except Exception:
pass
coord_pattern = r'\[(\d+),\s*(\d+)\]|\((\d+),\s*(\d+)\)'
matches = re.findall(coord_pattern, text)
traces = []
current_trace = []
for match in matches:
x = int(match[0] or match[2])
y = int(match[1] or match[3])
if 0 <= x <= 256 and 0 <= y <= 256:
current_trace.append([x, y])
if current_trace:
traces.append(current_trace)
return traces
def _safe_parse_action(self, text: str, unnorm_key: Optional[str] = None) -> List[List[float]]:
"""Safely parse action values from generated text"""
try:
if hasattr(self.model, 'parse_action'):
return self.model.parse_action(text, unnorm_key=unnorm_key)
except Exception:
pass
float_pattern = r'[-+]?\d*\.?\d+(?:[eE][-+]?\d+)?'
all_floats = re.findall(float_pattern, text)
actions = []
floats = [float(f) for f in all_floats]
for i in range(len(floats) - 6):
potential_action = floats[i:i+7]
if all(-5 < v < 5 for v in potential_action[:6]):
actions.append(potential_action)
break
return actions
def batch_generate(
self,
batch_data: List[Tuple[List[Image.Image], str]],
progress: bool = True
) -> List[Dict]:
"""
Process multiple observations in batch
"""
results = []
total = len(batch_data)
for i, (images, instruction) in enumerate(batch_data):
if progress:
print(f"\r🔄 Processing {i+1}/{total}...", end="", flush=True)
result = self.generate(images, instruction)
results.append(result)
if progress:
print(f"\r✅ Processed {total} observations!")
return results
print("\n" + "=" * 80)
print("🎨 SECTION 4: VISUALIZATION UTILITIES")
print("=" * 80)We implement the core generation pipeline that takes images and an instruction and produces structured reasoning outputs. We process the inputs, run inference, decode the generated response, and extract depth, trace, and action information from the model output. We also add safe parsing methods and batch-processing support, enabling us to handle multiple observations more reliably and efficiently.
class MolmoActVisualizer:
"""Visualization utilities for MolmoAct outputs"""
def __init__(self, figsize: Tuple[int, int] = (12, 8)):
self.figsize = figsize
self.colors = plt.cm.viridis(np.linspace(0, 1, 10))
def plot_trace(
self,
image: Image.Image,
trace: List[List[int]],
title: str = "Visual Reasoning Trace",
save_path: Optional[str] = None
) -> None:
"""Plot visual trace overlaid on image"""
fig, ax = plt.subplots(figsize=self.figsize)
img_array = np.array(image)
ax.imshow(img_array)
if trace and len(trace) > 0:
h, w = img_array.shape[:2]
trace_array = np.array(trace)
x_coords = trace_array[:, 0] * w / 256
y_coords = trace_array[:, 1] * h / 256
ax.plot(x_coords, y_coords, 'w-', linewidth=2, alpha=0.7)
ax.plot(x_coords, y_coords, 'c-', linewidth=1, alpha=0.9)
for i, (x, y) in enumerate(zip(x_coords, y_coords)):
color_idx = int(i * 9 / max(len(x_coords) - 1, 1))
ax.scatter(x, y, c=[self.colors[color_idx]], s=100,
edgecolors='white', linewidths=2, zorder=5)
ax.annotate(f'{i+1}', (x, y), textcoords="offset points",
xytext=(5, 5), fontsize=10, color='white',
fontweight='bold')
ax.scatter(x_coords[0], y_coords[0], c='lime', s=200,
marker='o', edgecolors='white', linewidths=3,
zorder=6, label='Start')
ax.scatter(x_coords[-1], y_coords[-1], c='red', s=200,
marker='X', edgecolors='white', linewidths=3,
zorder=6, label='End')
ax.set_title(title, fontsize=14, fontweight='bold')
ax.axis('off')
ax.legend(loc='upper right')
plt.tight_layout()
if save_path:
plt.savefig(save_path, dpi=150, bbox_inches='tight')
print(f"💾 Saved visualization to {save_path}")
plt.show()
def plot_action(
self,
action: List[float],
action_labels: Optional[List[str]] = None,
title: str = "Predicted Robot Action",
save_path: Optional[str] = None
) -> None:
"""Plot action values as a bar chart"""
if action_labels is None:
action_labels = [
'Δx (forward)', 'Δy (left)', 'Δz (up)',
'Rx (roll)', 'Ry (pitch)', 'Rz (yaw)',
'Gripper'
]
fig, ax = plt.subplots(figsize=(10, 5))
colors = ['#3498db', '#3498db', '#3498db',
'#e74c3c', '#e74c3c', '#e74c3c',
'#2ecc71']
x = np.arange(len(action))
bars = ax.bar(x, action, color=colors, edgecolor='white', linewidth=1.5)
for bar, val in zip(bars, action):
height = bar.get_height()
ax.annotate(f'{val:.3f}',
xy=(bar.get_x() + bar.get_width() / 2, height),
xytext=(0, 3 if height >= 0 else -12),
textcoords="offset points",
ha='center', va='bottom' if height >= 0 else 'top',
fontsize=9, fontweight='bold')
ax.set_xticks(x)
ax.set_xticklabels(action_labels, rotation=45, ha='right')
ax.set_ylabel('Value', fontsize=12)
ax.set_title(title, fontsize=14, fontweight='bold')
ax.axhline(y=0, color='gray', linestyle='--', alpha=0.5)
ax.grid(axis='y', alpha=0.3)
from matplotlib.patches import Patch
legend_elements = [
Patch(facecolor='#3498db', label='Position'),
Patch(facecolor='#e74c3c', label='Rotation'),
Patch(facecolor='#2ecc71', label='Gripper')
]
ax.legend(handles=legend_elements, loc='upper right')
plt.tight_layout()
if save_path:
plt.savefig(save_path, dpi=150, bbox_inches='tight')
plt.show()We create visualization utilities that help us inspect the model’s reasoning outputs intuitively. We overlay predicted traces onto images and build action plots to better understand the model’s spatial and control decisions. We use these visual tools to make the output easier to interpret and analyze during experimentation.
def plot_comparison(
self,
images: List[Image.Image],
traces: List[List[List[int]]],
titles: Optional[List[str]] = None,
save_path: Optional[str] = None
) -> None:
"""Plot multiple images with their traces side by side"""
n = len(images)
fig, axes = plt.subplots(1, n, figsize=(5*n, 5))
if n == 1:
axes = [axes]
for idx, (ax, img, trace) in enumerate(zip(axes, images, traces)):
img_array = np.array(img)
ax.imshow(img_array)
if trace and len(trace) > 0:
h, w = img_array.shape[:2]
trace_array = np.array(trace)
x_coords = trace_array[:, 0] * w / 256
y_coords = trace_array[:, 1] * h / 256
ax.plot(x_coords, y_coords, 'c-', linewidth=2, alpha=0.9)
ax.scatter(x_coords, y_coords, c='yellow', s=50,
edgecolors='white', linewidths=1, zorder=5)
title = titles[idx] if titles else f"View {idx+1}"
ax.set_title(title, fontsize=12, fontweight='bold')
ax.axis('off')
plt.tight_layout()
if save_path:
plt.savefig(save_path, dpi=150, bbox_inches='tight')
plt.show()
print("\n" + "=" * 80)
print("⚙️ SECTION 5: ACTION PROCESSING UTILITIES")
print("=" * 80)
class ActionProcessor:
"""Utilities for processing MolmoAct action outputs"""
DEFAULT_STATS = {
"molmoact": {
"mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5],
"std": [0.1, 0.1, 0.1, 0.5, 0.5, 0.5, 0.5],
}
}
def __init__(self, stats: Optional[Dict] = None):
self.stats = stats or self.DEFAULT_STATS
def unnormalize(self, action: List[float], key: str = "molmoact") -> np.ndarray:
"""Unnormalize action values"""
action = np.array(action)
if key and key in self.stats:
mean = np.array(self.stats[key]["mean"])
std = np.array(self.stats[key]["std"])
action = action * std + mean
return action
def normalize(self, action: np.ndarray, key: str = "molmoact") -> np.ndarray:
"""Normalize action values"""
action = np.array(action)
if key and key in self.stats:
mean = np.array(self.stats[key]["mean"])
std = np.array(self.stats[key]["std"])
action = (action - mean) / std
return action
def process_gripper(self, action: np.ndarray, threshold: float = 0.5) -> Tuple[np.ndarray, bool]:
"""Process gripper action value"""
gripper_value = action[-1]
gripper_open = gripper_value > threshold
return action[:-1], gripper_open
def smooth_actions(self, actions: List[np.ndarray], window_size: int = 3) -> List[np.ndarray]:
"""Smooth action sequence using moving average"""
if len(actions) < window_size:
return actions
actions_array = np.array(actions)
smoothed = np.zeros_like(actions_array)
for i in range(len(actions)):
start = max(0, i - window_size // 2)
end = min(len(actions), i + window_size // 2 + 1)
smoothed[i] = actions_array[start:end].mean(axis=0)
return [smoothed[i] for i in range(len(smoothed))]
@staticmethod
def action_to_pose_delta(action: np.ndarray, scale: float = 1.0) -> Dict[str, np.ndarray]:
"""Convert action to position and rotation deltas"""
return {
"position_delta": action[:3] * scale,
"rotation_delta": action[3:6],
"gripper": action[6] if len(action) > 6 else 1.0
}
print("\n" + "=" * 80)
print("🚀 SECTION 6: EXAMPLE USAGE AND DEMO")
print("=" * 80)We complete the visualization module and then introduce utilities for processing predicted actions. We define functions for normalization, unnormalization, gripper-state handling, smoothing, and conversion of actions into pose deltas. We use these utilities to transform raw model outputs into forms that are more useful for robotics analysis and downstream control.
def load_example_images() -> Tuple[Image.Image, Image.Image]:
"""Load example images from HuggingFace"""
print("📥 Loading example images...")
url1 = "https://huggingface.co/allenai/MolmoAct-7B-D-0812/resolve/main/example_1.png"
url2 = "https://huggingface.co/allenai/MolmoAct-7B-D-0812/resolve/main/example_2.png"
headers = {"User-Agent": "python-requests"}
r1 = requests.get(url1, headers=headers, timeout=30)
r1.raise_for_status()
r2 = requests.get(url2, headers=headers, timeout=30)
r2.raise_for_status()
img1 = Image.open(BytesIO(r1.content)).convert("RGB")
img2 = Image.open(BytesIO(r2.content)).convert("RGB")
print(f"✅ Loaded images: {img1.size} and {img2.size}")
return img1, img2
def display_images(img1: Image.Image, img2: Image.Image) -> None:
"""Display the example images"""
fig, axes = plt.subplots(1, 2, figsize=(12, 5))
axes[0].imshow(img1)
axes[0].set_title("Side View (Exocentric)", fontsize=12, fontweight='bold')
axes[0].axis('off')
axes[1].imshow(img2)
axes[1].set_title("Wrist View (Egocentric)", fontsize=12, fontweight='bold')
axes[1].axis('off')
plt.tight_layout()
plt.show()
def run_demo():
"""
Run the complete MolmoAct demo
"""
print("\n" + "=" * 80)
print("🎬 RUNNING MOLMOACT DEMO")
print("=" * 80)
img1, img2 = load_example_images()
display_images(img1, img2)
print("\n📦 Initializing MolmoAct...")
config = MolmoActConfig(
model_name="allenai/MolmoAct-7B-D-0812",
torch_dtype="bfloat16",
max_new_tokens=256,
)
model = MolmoActModel(config)
model.load()
instruction = "close the box"
print(f"\n🎯 Task Instruction: '{instruction}'")
print("🔄 Generating action reasoning...")
start_time = time.time()
result = model.generate([img1, img2], instruction)
inference_time = time.time() - start_time
print(f"⏱️ Inference time: {inference_time:.2f}s")
print("\n" + "-" * 60)
print("📝 GENERATED REASONING:")
print("-" * 60)
print(result['text'][:500] + "..." if len(result['text']) > 500 else result['text'])
print("\n" + "-" * 60)
print("🔍 PARSED OUTPUTS:")
print("-" * 60)
print(f"\n🌊 Depth Tokens: {result['depth'][0][:50]}..." if result['depth'] else "No depth tokens")
print(f"\n📍 Visual Trace: {result['trace']}")
print(f"\n🎮 Action (unnormalized): {result['action']}")
print(f"🎮 Action (raw): {result['action_raw']}")
print("\n" + "-" * 60)
print("🎨 VISUALIZATIONS:")
print("-" * 60)
visualizer = MolmoActVisualizer()
if result['trace'] and len(result['trace']) > 0:
visualizer.plot_trace(
img1,
result['trace'][0],
title=f"Visual Trace for: '{instruction}'"
)
if result['action'] and len(result['action']) > 0:
visualizer.plot_action(
result['action'][0],
title=f"Predicted Action for: '{instruction}'"
)
print("\n" + "-" * 60)
print("⚙️ ACTION PROCESSING:")
print("-" * 60)
if result['action'] and len(result['action']) > 0:
processor = ActionProcessor()
action = np.array(result['action'][0])
pose_delta = processor.action_to_pose_delta(action)
print(f"\n📐 Position Delta: {pose_delta['position_delta']}")
print(f"🔄 Rotation Delta: {pose_delta['rotation_delta']}")
print(f"✋ Gripper State: {'OPEN' if pose_delta['gripper'] > 0.5 else 'CLOSED'}")
print("\n" + "=" * 80)
print("✅ DEMO COMPLETED!")
print("=" * 80)
return model, result
print("\n" + "=" * 80)
print("🔬 SECTION 7: ADVANCED FEATURES")
print("=" * 80)
class MolmoActRollout:
"""Rollout controller for continuous action generation"""
def __init__(
self,
model: MolmoActModel,
action_chunk_size: int = 8,
smoothing_window: int = 3
):
self.model = model
self.action_chunk_size = action_chunk_size
self.smoothing_window = smoothing_window
self.processor = ActionProcessor()
self.action_history = []
self.reset()
def reset(self):
"""Reset rollout state"""
self.action_history = []
self.step_count = 0
def step(self, images: List[Image.Image], instruction: str) -> Dict:
"""Execute one step of the rollout"""
result = self.model.generate(images, instruction)
if result['action'] and len(result['action']) > 0:
action = np.array(result['action'][0])
self.action_history.append(action)
self.step_count += 1
if len(self.action_history) >= self.smoothing_window:
smoothed = self.processor.smooth_actions(
self.action_history[-self.smoothing_window:],
self.smoothing_window
)[-1]
else:
smoothed = action
result['smoothed_action'] = smoothed
result['step'] = self.step_count
return result
def get_action_statistics(self) -> Dict:
"""Get statistics of collected actions"""
if not self.action_history:
return {}
actions = np.array(self.action_history)
return {
"mean": actions.mean(axis=0).tolist(),
"std": actions.std(axis=0).tolist(),
"min": actions.min(axis=0).tolist(),
"max": actions.max(axis=0).tolist(),
"num_steps": len(self.action_history)
}
def demonstrate_custom_stats():
"""Demonstrate using custom normalization statistics"""
print("\n" + "-" * 60)
print("📐 CUSTOM STATISTICS DEMO")
print("-" * 60)
custom_stats = {
"franka": {
"mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5],
"std": [0.05, 0.05, 0.05, 0.3, 0.3, 0.3, 0.5],
},
"ur5": {
"mean": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5],
"std": [0.08, 0.08, 0.08, 0.4, 0.4, 0.4, 0.5],
}
}
processor = ActionProcessor(custom_stats)
normalized_action = np.array([0.5, -0.3, 0.2, 0.1, -0.1, 0.05, 0.8])
print("Normalized action:", normalized_action)
print("\nUnnormalized for different robots:")
for robot in ["franka", "ur5"]:
unnorm = processor.unnormalize(normalized_action, key=robot)
print(f" {robot}: {unnorm}")
print("\n" + "=" * 80)
print("💡 SECTION 8: TIPS AND BEST PRACTICES")
print("=" * 80)
tips = """
╔══════════════════════════════════════════════════════════════════════════════╗
║ MolmoAct Best Practices ║
╠══════════════════════════════════════════════════════════════════════════════╣
║ ║
║ 🖼️ IMAGE INPUTS: ║
║ • Use 2 camera views: side (exocentric) + wrist (egocentric) ║
║ • Ensure good lighting and clear visibility ║
║ • Match camera setup to training distribution (Franka/DROID-like) ║
║ ║
║ 📝 INSTRUCTIONS: ║
║ • Keep instructions clear and concise ║
║ • Use action-oriented language ("pick up", "push", "close") ║
║ • Avoid ambiguous references ║
║ ║
║ ⚡ PERFORMANCE: ║
║ • Use bfloat16 for faster inference ║
║ • Batch similar observations when possible ║
║ • Consider vLLM for production deployment ║
║ ║
║ 🔧 FINE-TUNING: ║
║ • Collect 50-100 demonstrations for new tasks ║
║ • Use LoRA for efficient adaptation ║
║ • Include depth perception in training data ║
║ ║
║ ⚠️ SAFETY: ║
║ • Always inspect visual traces before execution ║
║ • Implement force limits and collision detection ║
║ • Test in simulation before real-world deployment ║
║ ║
╚══════════════════════════════════════════════════════════════════════════════╝
"""
print(tips)
if __name__ == "__main__":
print("\n" + "=" * 80)
print("🤖 MOLMOACT ADVANCED TUTORIAL - MAIN EXECUTION")
print("=" * 80)
print("""
This tutorial provides a comprehensive guide to MolmoAct.
To run the full demo (requires GPU with ~16GB VRAM):
model, result = run_demo()
To just load images and explore:
img1, img2 = load_example_images()
display_images(img1, img2)
For advanced features:
demonstrate_custom_stats()
Happy robotics! 🤖
""")
model, result = run_demo()
print("\n📷 Loading and displaying example images...")
try:
img1, img2 = load_example_images()
display_images(img1, img2)
print("\n✅ Images loaded! Uncomment 'run_demo()' to run full inference.")
except Exception as e:
print(f"⚠️ Could not load images: {e}")
print("This is expected in environments without internet access.")We bring everything together through example image loading, demo execution, rollout logic, and best-practice guidance. We run the end-to-end workflow, visualize outputs, process predicted actions, and extend the setup to support continuous rollout and custom statistics. We conclude by presenting the main execution block, which enables us to explore MolmoAct as a complete practical pipeline for spatial reasoning and robot action generation.
In conclusion, we gained a comprehensive, hands-on view of how MolmoAct can be used for spatial reasoning and action generation in a structured, interpretable way. We went beyond basic inference by visualizing traces, processing action outputs, experimenting with rollout-style control, and understanding how the model can fit into broader simulation and robotics workflows. Through this end-to-end implementation, we saw how MolmoAct brings together vision, reasoning, and action prediction into a single practical pipeline that we can study, adapt, and extend for more advanced embodied AI applications.
Check out the Full Codes here. Also, feel free to follow us on Twitter and don’t forget to join our 130k+ ML SubReddit and Subscribe to our Newsletter. Wait! are you on telegram? now you can join us on telegram as well.
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Michal Sutter is a data science professional with a Master of Science in Data Science from the University of Padova. With a solid foundation in statistical analysis, machine learning, and data engineering, Michal excels at transforming complex datasets into actionable insights.
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