DRIVE LIBERO Policy
This repository contains the exported DRIVE LIBERO policy checkpoint used for the main simulation result (the nft2 checkpoint in the anonymous experiments). It is based on allenai/MolmoAct2-LIBERO and predicts continuous 7-DoF end-effector action chunks with horizon 10 from agent-view and wrist-view observations plus the language instruction.
Reported LIBERO evaluation
The same policy checkpoint was evaluated in three independent runs. Values are mean success rate (%) plus or minus standard deviation.
| Suite | Success rate |
|---|---|
| LIBERO-Spatial | 99.00 +/- 1.00 |
| LIBERO-Object | 99.67 +/- 0.58 |
| LIBERO-Goal | 98.00 +/- 1.00 |
| LIBERO-Long | 96.33 +/- 1.53 |
| Average | 98.25 +/- 0.43 |
Files
- model.safetensors: policy weights.
- config.json: policy and model configuration.
- policy_preprocessor.json and associated tensors: input preprocessing.
- policy_postprocessor.json and associated tensors: action postprocessing.
- nft_export_manifest.json: sanitized export metadata.
Training-data note
The full DRIVE training mixture contains expert demonstrations, autonomous successful rollouts, autonomous failed rollouts, and human-in-the-loop data. These sources share the same trajectory schema. The initial anonymous code release uses the original LIBERO-format data to test the complete pipeline; additional collected trajectories are not included in this model repository.
Anonymity
This artifact contains no author identity, experiment-tracking identifier, or machine-specific dataset/output path. The repository is private during review and can be made public when the anonymous release is ready.
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