PhAIL
PhAIL Physical AI Leaderboard by Positronic Robotics
Leaderboard › Model

Model card

Made by
Ai2
Size
5.5B parameters
Published
4 May 2026
More about the model
Publication
arXiv 2605.02881
Code
github.com/allenai/molmoact2
Weights licence
Apache 2.0, for research and education under Ai2's Responsible Use Guidelines source
Actions per chunk
15, at 15 Hz source
Smallest GPU
Under 16 GB of GPU memory, in bfloat16 source
Architecture
Molmo2-ER vision-language model and a flow-matching action expert that reads its key-value cache at every layer source
Training data
Fine-tuned on 74,604 filtered DROID episodes (17.8M frames) source

Run with Positronic

Start the server source

docker run --gpus all -p 8000:8000 positro/molmoact2-droid

Drive a DROID robot from a positronic checkout guide

uv run --extra hardware positronic-inference real \
  --policy=.remote \
  --policy.address.host=localhost --policy.address.port=8000 \
  --next_task.instruction="Put the marker on the plate"

Progress through an episode

Each band shows how many episodes of MolmoAct2 had got as far as that stage at each second. The dashed line shows the mean Reliability.

Episodes

Each episode of MolmoAct2 on DROID: Everyday tasks, the newest first.

177 episodes
Task Task difficulty How far it got % of task done Time to success, s
Remove the yellow block from the bowl Easy Success 100 18.2
Put the book in the box Hard Success 100 42.1
Pick up the screwdriver from the cup and put it on the table Easy Success 100 45.2
Remove the marker from the cup and put it on the book Very hard Control 30 -
Put the cloth in the bag Very hard Failed 0 -
Pick up the spoon and put it on the plate Easy Success 100 25.8
Put the knife in the drawer Very hard At target 40 -
Put the towel in the basket Medium Success 100 30.6
Put the plush on the table Easy Success 100 26.7
Put the bottle on the box Medium Success 100 232.8
Pick up the pen from the cup and put it on the table, then move the cup Hard At target 40 -
Remove the marker from the glass and put it on the table Hard Success 100 39.4
Put the marker in the glass Hard Control 30 -
Put the marker beside the mug Hard Reaching 0 -
Put the wrench in the bowl Hard Success 100 43.9
Put the screwdriver on the tray Very hard Failed 0 -
Put the lid on the pan Easy Success 100 26.0
Pick up the toy and put it in the bowl Hard Failed 0 -
Put the marker on the cloth, then fold the cloth and put it in the box Very hard At target 40 -
Pick up the bottle and put it on the right side of the table Hard Success 100 19.9
Put the bottle in the bag Very hard Reaching 0 -
Remove the bottle from the tray and put it on the table Very hard Failed 0 -
Put the marker inside the container Hard Success 100 60.7
Remove the bottle from the bowl and put it on the table Easy Success 100 23.6
Put the bottle on the tray Hard Success 100 25.9
Pick up the cup and put it on the left side of the table Medium Floating 0 -
Remove the lid from the bottle and put it on the table Very hard Failed 0 -
Put the blocks in the cup Very hard Failed 0 -
Pick up the bottle from the box and put it on the table Hard Success 100 44.3
Put the bottle in the bowl Medium Success 100 20.8
Put the lid on the bottle Very hard Failed 0 -
Put the bottle on the table Easy Contact 10 -
Put the orange cup in the yellow cup then put the yellow cup in the blue cup Very hard Failed 0 -
Pick up the spoon and put it in the cup Very hard At target 40 -
Put the blue cup on the table Easy Success 100 19.2
Put the yellow block on the table Very hard Contact 10 -
Put the blocks in the bowl Very hard Failed 0 -
Pick up the bottle and put it in the box Very hard Success 100 19.2
Put the pen in the mug Hard Reaching 0 -
Put the pen in the bowl Easy Success 100 22.7
Put the green block in the bowl Easy Success 100 15.9
Pick the marker from the bowl and put it on the table Easy Success 100 18.5
Take the marker out of the mug and put it on the table Easy Success 100 38.0
Close the box Very hard Failed 0 -
Put the marker on the table Medium Success 100 16.3
Put the yellow block in the cup Easy Success 100 16.4
Put the cup in the bowl Easy Success 100 12.7
Put the spoon in the bowl Very hard Failed 0 -
Put the marker in the bowl Medium Success 100 22.4
Put the marker in the cup Hard Failed 0 -
Move the wooden block to the left Very hard Contact 10 -
Flip over the plate Hard Failed 0 -
Put the sponge in the bowl Easy Success 100 14.6
Put the marker in the mug Hard Failed 0 -
Put the banana on the plate on the left Easy Success 100 13.6
Put the orange block on top of the green block Hard Failed 0 -
Put the yellow block in the blue cup Medium Success 100 22.5
Put the fork on the plate Medium Success 100 57.5
Put the cube in the bowl Medium Success 100 14.8
Put the spoon in the mug Hard Failed 0 -
Put the pen in the cup Very hard Control 30 -
Use the towel to wipe the table Hard Floating 0 -
Fold the towel Hard Failed 0 -
Move the cup to the right Easy Success 100 21.0
Move the cup to the left Easy Success 100 14.5
Close the box Very hard Contact 10 -
Put the marker on the table Medium Success 100 19.5
Put the yellow block in the cup Easy Success 100 25.3
Put the cup in the bowl Easy Failed 0 -
Put the spoon in the bowl Very hard Failed 0 -
Put the marker in the bowl Medium Success 100 29.2
Put the marker in the cup Hard Success 100 71.9
Move the wooden block to the left Very hard Contact 10 -
Flip over the plate Hard Contact 10 -
Put the sponge in the bowl Easy Failed 0 -
Put the marker in the mug Hard Failed 0 -
Put the banana on the plate on the left Easy Success 100 21.1
Turn the box right side up Very hard Contact 10 -
Turn the spoon Hard Contact 10 -
Turn the lid upside down Very hard Contact 10 -
Rotate the mug Easy Reaching 0 -
Turn the marker to the right Hard Contact 10 -
Unstack the boxes on the table Medium Contact 10 -
Stack the cups inside the bowl Hard At target 40 -
Stack the wooden blocks on the table Very hard Failed 0 -
Use the towel to wipe the plate Medium Success 100 80.4
Wipe the table with the cloth Medium Control 30 -
Move the banana to the left Easy Success 100 14.9
Move the plate to the left Hard Control 30 -
Move the fork to the right Easy Contact 10 -
Move the rubik's cube to the left Easy Success 100 35.1
Move the spoon to the right Easy Success 100 28.5
Move the pen to the right Medium Contact 10 -
Move the box to the right Very hard Contact 10 -
Move the cloth to the right Medium Success 100 31.0
Move the marker to the left Easy Success 100 41.2
Move the towel to the right Hard Failed 0 -
Put the green block in the box Easy Success 100 26.0
Put the pen in the storage box Medium Contact 10 -
Put the Rubik's cube in the storage box Easy Success 100 11.5
Put the pen in the drawer Easy Success 100 19.1
Put the screwdriver in the bowl Very hard Failed 0 -
Put the cube in the drawer and close the drawer Very hard Safety stop 0 -
Put the spoon in the box Medium Control 30 -
Put the wooden spoon in the drawer Medium Control 30 -
Put the sponge in the open drawer Hard Success 100 19.0
Put the cup in the drawer Hard Failed 0 -
Put the cube in the cup Hard Contact 10 -
Put the marker on the towel Hard Failed 0 -
Put the yellow block on the plate Easy Success 100 54.2
Put the screwdriver on the table Medium Control 30 -
Put the shirt on the table Very hard Failed 0 -
Place the cube on the table Easy Success 100 15.8
Place the bowl on the plate Easy Success 100 16.2
Place the mug at the center of the table Hard Failed 0 -
Put the towel inside the box Easy Control 30 -
Put the fork inside the open drawer Hard Success 100 18.9
Put the blue block inside the open drawer then close the drawer Hard Failed 0 -
Take the cloth and put it on the bowl Easy Contact 10 -
Remove the towel from the middle drawer Hard Safety stop 0 -
Remove the banana from the bowl Easy Success 100 29.1
Remove the red cup from the box Easy Success 100 12.2
Remove the fork from the bowl Easy Success 100 39.8
Take the mug off the plate and put it on the table Easy Success 100 18.5
Pick up the spoon from the bowl and put it in the box Hard Success 100 16.1
Pick up the spoon from the bowl and put it in the cup Hard Reaching 0 -
Pick up the cup and put it on the plate Easy Success 100 12.4
Pick the fork and put it on the table Easy Success 100 220.3
Pick up the towel and place it on the table Hard Success 100 21.8
Pick up the spoon and put it on the table Easy Success 100 52.8
Pick up the pen and put it on the table Hard Failed 0 -
Pick up the cloth and put it on the drawer Hard Contact 10 -
Pick up the blue cup and put it in the orange cup Easy Contact 10 -
Pick up the cloth from the table and put it in the box Medium Control 30 -
Pick up the cloth and put it on the table Hard Failed 0 -
Remove the marker from the cup and put it on the box Medium Control 30 -
Remove the lid from the storage box and put it on the table Medium Contact 10 -
Take the spoon from the plate and put it on the table Easy Success 100 62.4
Remove the blocks from the bowl and put them on the table Easy Success 100 59.9
Remove the mug from the box and put it on the table Easy Success 100 41.1
Take the screwdriver from the box and put it on the table Medium Success 100 215.0
Remove the marker from the box and place it on the table Medium Control 30 -
Remove the spoon from the bowl and put it on the table Medium Success 100 42.1
Remove the spoon from the cup and put it on the table Hard Failed 0 -
Take the pen out of the bowl and put it on the table Easy Success 100 16.6
Take the pen out of the mug and put it on the table Hard Success 100 39.2
Put the marker on the towel, fold the towel, and then put the folded towel in the box Very hard Failed 0 -
Put the screwdriver in the drawer and close it Very hard Control 30 -
Unfold the shirt Hard Contact 10 -
Fold the cloth Hard Control 30 -
Flip the cup over Medium Control 30 -
Close the drawer Hard Success 100 7.9
Move the bowl to the right Easy Success 100 20.4
Move the mug to the left Easy Reaching 0 -
Stack the cups Medium Control 30 -
Put the orange block on top of the green block Hard Reaching 0 -
Put the yellow block in the blue cup Medium Reaching 0 -
Put the fork on the plate Medium Failed 0 -
Put the cube in the bowl Medium Failed 0 -
Put the spoon in the mug Hard Failed 0 -
Put the pen in the cup Very hard Failed 0 -
Use the towel to wipe the table Hard Floating 0 -
Fold the towel Hard Control 30 -
Move the cup to the right Easy Control 30 -
Move the cup to the left Easy Success 100 13.4
Close the box Very hard Failed 0 -
Put the marker on the table Medium Failed 0 -
Put the yellow block in the cup Easy Failed 0 -
Put the cup in the bowl Easy Success 100 19.1
Put the spoon in the bowl Very hard Failed 0 -
Put the marker in the bowl Medium Failed 0 -
Put the marker in the cup Hard Failed 0 -
Move the wooden block to the left Very hard Success 100 23.3
Flip over the plate Hard Contact 10 -
Put the sponge in the bowl Easy Reaching 0 -
Put the marker in the mug Hard Success 100 47.5
Put the banana on the plate on the left Easy Success 100 12.9