metadata
license: odc-by
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: FrankaPickAndPlaceOmniCamConfig_ObjectBackfill
data_files:
- split: train_pkgs
path: FrankaPickAndPlaceOmniCamConfig_ObjectBackfill/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
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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
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- name: train_pkgs
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- config_name: FrankaPickAndPlaceOmniCamConfig
features:
- name: path
dtype: string
- name: shard_id
dtype: int64
- name: offset
dtype: int64
- name: size
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splits:
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num_examples: 239
- name: train_pkgs
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num_examples: 92543
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dataset_size: 17585826
- config_name: FrankaPickAndPlaceOmniCamConfig_ObjectBackfill
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: train_pkgs
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num_examples: 26231
download_size: 660231
dataset_size: 2882553
- 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
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dtype: int64
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- name: val_pkgs
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- name: train_pkgs
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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.
We also provide an extension dataset for FrankaPickAndPlace (not used to train any of our shared models) with additional object types:
- FrankaPickAndPlaceOmniCamConfig_ObjectBackfill
Data access
We recommend to use bulk_download.py. For example,
python bulk_download.py --split all --max_part_shards 1 --all /path/to/mbdata/
will download and extract one shard from each part of each configuration in each available split under /path/to/mbdata.
To launch it you might need to install some dependencies, e.g., by:
pip install zstandard datasets huggingface_hub tqdm
A standalone example of how to access the episode data via streaming is also included in stream_access_example.py.
Dataset post-processing and stats
After bulk downloading data, please use
- repair_video_paths.py to fix video paths,
- validate_trajectories.py to extract valid trajectories from each dataset and part, and
- calculate_stats.py to extract dataset stats.
For example:
export SPLIT_DIR=/path/to/mbdata/DoorOpeningDataGenConfig/part0/train
python scripts/data/repair_video_paths.py "$SPLIT_DIR"
python scripts/data/validate_trajectories.py "$SPLIT_DIR" --check-visibility droid_shoulder_light_randomization pickup_obj --check-visibility droid_shoulder_light_randomization place_receptacle
python scripts/data/calculate_stats.py "$SPLIT_DIR" --keys actions obs/agent/qpos
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},
}