allenai/molmobot-data

---
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},
}
```