Model comparison · robotics
MolmoAct 2 vs Helix 02
Symmetrical, primary-source facts with unknown values left visible. No winner is assigned without comparable measurements.
FieldAt a glance
Ai2 · activeMolmoAct 2Verified Aug 28, 2026
Figure · activeHelix 02Verified Aug 28, 2026
Technical differences
Side-by-side facts
| Field | MolmoAct 2 | Helix 02 |
|---|---|---|
| Developer | Ai2 | Figure |
| Family | MolmoAct 2 | Helix |
| Model | MolmoAct 2 | Helix 02 |
| Version | 2 | 02 |
| Lifecycle | active | active |
| Input modalities | Text, Image, Robot state | Text, Image, Robot state |
| Output modalities | Robot action | Robot action |
| Context window | Unknown | Unknown |
| Total parameters | 5000000000 | Unknown |
| Active parameters | Unknown | Unknown |
| License | apache-2.0 | Unknown |
| Open weights | Yes | No |
| API available | No | No |
| Self-hostable | Yes | No |
| Capabilities | action-reasoning, bimanual-manipulation, depth-reasoning, fine-tuning | dexterous-manipulation, long-horizon-control, tactile-control, whole-body-control |
| Robotics model type | Action reasoning model | Vision-language-action model |
| Action representation | Flow-matching continuous action expert | Full-body joint targets |
| Control architecture | Molmo 2-ER backbone with KV-cache bridge and action expert | Semantic reasoning, visuomotor policy, and kHz whole-body controller |
| Inference location | Flexible | On device |
| Native control rate (Hz) | Unknown | Unknown |
| Supported embodiments | SO-100, SO-101, Franka, WidowX, bimanual YAM | Figure 03 |
| Training data | Open bimanual YAM, SO-100/SO-101, DROID, BC-Z, Fractal, Bridge, and prior MolmoAct data described by Ai2. | Figure reports more than 1,000 hours of human motion data plus sim-to-real reinforcement learning for its whole-body controller. |
17 comparable fields · 13 material differences · Pair passes the primary-source comparison gate
Primary benchmark evidence
Comparable performance
No protocol-matched benchmark yet.Results appear here only when both models share the same benchmark version, metric, evaluation protocol, and evidence class.
MolmoAct 2 capabilities
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Output price—
Serving providers0
Canonical IDallenai/MolmoAct2
Helix 02 capabilities
Input price—
Output price—
Serving providers0
Canonical IDfigure/helix-02
Internal comparison graph
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Primary evidence