README.md

---
license:
- odc-by
- apache-2.0
configs:
- config_name: DoorOpeningDataGenConfig
  data_files:
  - split: val_pkgs
    path: DoorOpeningDataGenConfig/val_pkgs-*
  - split: train_pkgs
    path: DoorOpeningDataGenConfig/train_pkgs-*
- config_name: FrankaPickAndPlaceColorOmniCamConfig
  data_files:
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  - split: train_pkgs
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- config_name: FrankaPickAndPlaceNextToOmniCamConfig
  data_files:
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    path: FrankaPickAndPlaceNextToOmniCamConfig/val_pkgs-*
  - split: train_pkgs
    path: FrankaPickAndPlaceNextToOmniCamConfig/train_pkgs-*
- config_name: FrankaPickAndPlaceOmniCamConfig
  data_files:
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    path: FrankaPickAndPlaceOmniCamConfig/val_pkgs-*
  - split: train_pkgs
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- config_name: FrankaPickOmniCamConfig
  data_files:
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    path: FrankaPickOmniCamConfig/val_pkgs-*
  - split: train_pkgs
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- config_name: RBY1OpenDataGenConfig
  data_files:
  - split: val_pkgs
    path: RBY1OpenDataGenConfig/val_pkgs-*
  - split: train_pkgs
    path: RBY1OpenDataGenConfig/train_pkgs-*
- config_name: RBY1PickAndPlaceDataGenConfig
  data_files:
  - split: val_pkgs
    path: RBY1PickAndPlaceDataGenConfig/val_pkgs-*
  - split: train_pkgs
    path: RBY1PickAndPlaceDataGenConfig/train_pkgs-*
- config_name: RBY1PickDataGenConfig
  data_files:
  - split: val_pkgs
    path: RBY1PickDataGenConfig/val_pkgs-*
  - split: train_pkgs
    path: RBY1PickDataGenConfig/train_pkgs-*
dataset_info:
- config_name: DoorOpeningDataGenConfig
  features:
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  - name: shard_id
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  - name: offset
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- config_name: FrankaPickAndPlaceColorOmniCamConfig
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- config_name: FrankaPickAndPlaceNextToOmniCamConfig
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- config_name: FrankaPickOmniCamConfig
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- config_name: RBY1OpenDataGenConfig
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- config_name: RBY1PickAndPlaceDataGenConfig
  features:
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    dtype: string
  - name: shard_id
    dtype: int64
  - name: offset
    dtype: int64
  - name: size
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  - name: train_pkgs
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- config_name: RBY1PickDataGenConfig
  features:
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    dtype: string
  - name: shard_id
    dtype: int64
  - name: offset
    dtype: int64
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  dataset_size: 5237590
tags:
- robotics
- embodied ai
- manipulation
- mobile manipulation
- pick-and-place
- proprioception
- multi-view video
language:
- en
size_categories:
- 1M<n<10M
---

# MolmoBot-data

Training episode data (actions, visual inputs, and other sensor data) for 8 tasks on 2 robotic platforms:
- DoorOpeningDataGenConfig
- RBY1OpenDataGenConfig
- RBY1PickDataGenConfig
- FrankaPickOmniCamConfig
- RBY1PickAndPlaceDataGenConfig
- FrankaPickAndPlaceOmniCamConfig
- FrankaPickAndPlaceColorOmniCamConfig
- FrankaPickAndPlaceNextToOmniCamConfig

Please note that every package indexed by the parquet files can contan several instances of episode data.

## Data access

A standalone example of how to access the episode data via streaming is included in [stream_access_example.py](stream_access_example.py).
To launch it you might need to install some dependencies, e.g., by:
```bash
pip install h5py 'imageio[ffmpeg]' requests zstandard datasets huggingface_hub
```

### Bulk download

We recommend to use [bulk_download.py](bulk_download.py).

### Dataset post-processing and stats

After bulk downloading, please use
- [validate_trajectories.py](validate_trajectories.py) to extract valid trajectories from each dataset and part, and
- [calculate_stats.py](calculate_stats.py) to extract dataset stats, e.g. with `--key actions` as target.

For example:
```bash
python validate_trajectories.py --index-only /path/to/DoorOpeningDataGenConfig/part0/train
python hf_scripts/calculate_stats.py --aggregate-only /path/to/DoorOpeningDataGenConfig/part0/train --keys actions
```

## License

This dataset is licensed under [ODC-BY 1.0](https://opendatacommons.org/licenses/by/1-0/).
It is intended for research and educational use in accordance with Ai2's [Responsible Use Guidelines](https://allenai.org/responsible-use).

The subset of Objaverse used to generate these data is licensed under [ODC-BY 1.0](https://opendatacommons.org/licenses/by/1-0/),
with license information accessible, e.g., through the [license_info.py](license_info.py) script.

The scripts are licensed under [Apache 2.0](https://github.com/allenai/molmospaces/blob/main/LICENSE).

## BibTeX

```
@misc{deshpande2026molmobot,
      title={MolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation},
      author={Abhay Deshpande and Maya Guru and Rose Hendrix and Snehal Jauhri and Ainaz Eftekhar and Rohun Tripathi and Max Argus and Jordi Salvador and Haoquan Fang and Matthew Wallingford and Wilbert Pumacay and Yejin Kim and Quinn Pfeifer and Ying-Chun Lee and Piper Wolters and Omar Rayyan and Mingtong Zhang and Jiafei Duan and Karen Farley and Winson Han and Eli Vanderbilt and Dieter Fox and Ali Farhadi and Georgia Chalvatzaki and Dhruv Shah and Ranjay Krishna},
      year={2026},
      eprint={2603.16861},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2603.16861},
}
```