| --- |
| 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 |
| 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: 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 |
| num_bytes: 2882553 |
| 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 |
| - 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. |
|
|
| We also provide an extension dataset for `FrankaPickAndPlace` (not used to train any of our [shared models](https://huggingface.co/collections/allenai/molmobot-models)) with additional object types: |
| - FrankaPickAndPlaceOmniCamConfig_ObjectBackfill |
| |
| ## Data access |
| |
| We recommend to use [bulk_download.py](bulk_download.py). For example, |
| |
| ```bash |
| 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: |
| ```bash |
| 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](stream_access_example.py). |
| |
| |
| ### Dataset post-processing and stats |
| |
| After bulk downloading data, please use |
| - [repair_video_paths.py](repair_video_paths.py) to fix video paths, |
| - [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. |
| |
| For example: |
| ```bash |
| 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](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](CODE_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}, |
| } |
| ``` |
