---
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},
}
```