A fine-tuned MolmoAct2 policy gets an SO-101 robot to play a real xylophone
DJiafei · x · 2026-07-23
At a Rerun bounty, Team Lama won praise for a fine-tuned MolmoAct2 policy that can play a real xylophone with an SO-101 robot.
- The hard part is physical control: each strike has to ring the bar instead of damping it.
- The demo is visualized live in Rerun so you can see every hit.
- The team received $2K from the bounty pool.
- It is a neat example of robot learning where the challenge is not just motion, but precise contact dynamics.
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