Datasets:

allenai
/

molmobot-data

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:
      - split: val_pkgs
        path: FrankaPickAndPlaceColorOmniCamConfig/val_pkgs-*
      - split: train_pkgs
        path: FrankaPickAndPlaceColorOmniCamConfig/train_pkgs-*
  - config_name: FrankaPickAndPlaceNextToOmniCamConfig
    data_files:
      - split: val_pkgs
        path: FrankaPickAndPlaceNextToOmniCamConfig/val_pkgs-*
      - split: train_pkgs
        path: FrankaPickAndPlaceNextToOmniCamConfig/train_pkgs-*
  - config_name: FrankaPickAndPlaceOmniCamConfig
    data_files:
      - split: val_pkgs
        path: FrankaPickAndPlaceOmniCamConfig/val_pkgs-*
      - split: train_pkgs
        path: FrankaPickAndPlaceOmniCamConfig/train_pkgs-*
  - config_name: FrankaPickOmniCamConfig
    data_files:
      - split: val_pkgs
        path: FrankaPickOmniCamConfig/val_pkgs-*
      - split: train_pkgs
        path: FrankaPickOmniCamConfig/train_pkgs-*
  - 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:
      - name: path
        dtype: string
      - name: shard_id
        dtype: int64
      - name: offset
        dtype: int64
      - name: size
        dtype: int64
      - name: inflated_size
        dtype: int64
      - name: part
        dtype: int64
    splits:
      - name: val_pkgs
        num_bytes: 9061
        num_examples: 104
      - name: train_pkgs
        num_bytes: 1494065
        num_examples: 16998
    download_size: 1124564
    dataset_size: 3386850
  - config_name: FrankaPickAndPlaceColorOmniCamConfig
    features:
      - name: path
        dtype: string
      - name: shard_id
        dtype: int64
      - name: offset
        dtype: int64
      - name: size
        dtype: int64
      - name: inflated_size
        dtype: int64
      - name: part
        dtype: int64
    splits:
      - name: val_pkgs
        num_bytes: 11402
        num_examples: 115
      - name: train_pkgs
        num_bytes: 533560
        num_examples: 5341
    download_size: 431185
    dataset_size: 1078522
  - config_name: FrankaPickAndPlaceNextToOmniCamConfig
    features:
      - name: path
        dtype: string
      - name: shard_id
        dtype: int64
      - name: offset
        dtype: int64
      - name: size
        dtype: int64
      - name: inflated_size
        dtype: int64
      - name: part
        dtype: int64
    splits:
      - name: val_pkgs
        num_bytes: 9022
        num_examples: 90
      - name: train_pkgs
        num_bytes: 5859272
        num_examples: 58074
    download_size: 3158508
    dataset_size: 11727566
  - config_name: FrankaPickAndPlaceOmniCamConfig
    features:
      - name: path
        dtype: string
      - name: shard_id
        dtype: int64
      - name: offset
        dtype: int64
      - name: size
        dtype: int64
      - name: inflated_size
        dtype: int64
      - name: part
        dtype: int64
    splits:
      - name: val_pkgs
        num_bytes: 22500
        num_examples: 239
      - name: train_pkgs
        num_bytes: 8781663
        num_examples: 92543
    download_size: 4218989
    dataset_size: 17585826
  - config_name: FrankaPickOmniCamConfig
    features:
      - name: path
        dtype: string
      - name: shard_id
        dtype: int64
      - name: offset
        dtype: int64
      - name: size
        dtype: int64
      - name: inflated_size
        dtype: int64
      - name: part
        dtype: int64
    splits:
      - name: val_pkgs
        num_bytes: 16688
        num_examples: 194
      - name: train_pkgs
        num_bytes: 6368227
        num_examples: 73291
    download_size: 3294808
    dataset_size: 12753142
  - config_name: RBY1OpenDataGenConfig
    features:
      - name: path
        dtype: string
      - name: shard_id
        dtype: int64
      - name: offset
        dtype: int64
      - name: size
        dtype: int64
      - name: inflated_size
        dtype: int64
      - name: part
        dtype: int64
    splits:
      - name: val_pkgs
        num_bytes: 1817
        num_examples: 22
      - name: train_pkgs
        num_bytes: 893203
        num_examples: 10522
    download_size: 620623
    dataset_size: 1788223
  - config_name: RBY1PickAndPlaceDataGenConfig
    features:
      - name: path
        dtype: string
      - name: shard_id
        dtype: int64
      - name: offset
        dtype: int64
      - name: size
        dtype: int64
      - name: inflated_size
        dtype: int64
      - name: part
        dtype: int64
    splits:
      - name: val_pkgs
        num_bytes: 2480
        num_examples: 27
      - name: train_pkgs
        num_bytes: 920114
        num_examples: 9905
    download_size: 580488
    dataset_size: 1843823
  - config_name: RBY1PickDataGenConfig
    features:
      - name: path
        dtype: string
      - name: shard_id
        dtype: int64
      - name: offset
        dtype: int64
      - name: size
        dtype: int64
      - name: inflated_size
        dtype: int64
      - name: part
        dtype: int64
    splits:
      - name: val_pkgs
        num_bytes: 4283
        num_examples: 51
      - name: train_pkgs
        num_bytes: 2610373
        num_examples: 30750
    download_size: 1767900
    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. To launch it you might need to install some dependencies, e.g., by:

pip install h5py 'imageio[ffmpeg]' requests zstandard datasets huggingface_hub

Bulk download

We recommend to use bulk_download.py.

Dataset post-processing and stats

After bulk downloading, please use

validate_trajectories.py to extract valid trajectories from each dataset and part, and
calculate_stats.py to extract dataset stats, e.g. with --key actions as target.

For example:

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. It is intended for research and educational use in accordance with Ai2's Responsible Use Guidelines.

The subset of Objaverse used to generate these data is licensed under ODC-BY 1.0, with license information accessible, e.g., through the license_info.py script.

The scripts are licensed under Apache 2.0.

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},
}