kkipngenokoech/abc-molmoact2-yam-mix
ABC + MolmoAct2 YAM Mix — bimanual manipulation (LeRobot v3.0) 21,767 episodes / 61,120,847 frames / 14 language-differentiated tasks @ 30 fps, 224x224, 14-DoF bimanual YAM (cameras: top, left_wrist, right_wrist). ▶ Browse episodes in the LeRobot Dataset Visualizer — synchronized camera playback + action/state charts. The Dataset Viewer above shows the numeric streams (state/action/indices) from the data parquets; camera frames live in chunked video files that only the… See the full description on the dataset page: https://huggingface.co/datasets/kkipngenokoech/abc-molmoact2-yam-mix.
ABC + MolmoAct2 YAM Mix — bimanual manipulation (LeRobot v3.0)
21,767 episodes / 61,120,847 frames / 14 language-differentiated tasks @ 30 fps, 224x224, 14-DoF bimanual YAM (cameras: top, leftwrist, rightwrist).
[▶ Browse episodes in the LeRobot Dataset Visualizer](https://lerobot-visualize-dataset.hf.space/kkipngenokoech/abc-molmoact2-yam-mix/episode_0) — synchronized camera playback + action/state charts. The Dataset Viewer above shows the numeric streams (state/action/indices) from the data parquets; camera frames live in chunked video files that only the visualizer can render.
A merge of two Apache-2.0 sources:
- the 11 cloth/garment tasks of XDOF/ABC-130k (via lerobot/abc_130k_v3_train): 16,929 episodes
- a 4,838-episode subset of allenai/MolmoAct2-BimanualYAM-Dataset (the episodes whose media was fully present in our source replica; videos re-encoded 640x360 AV1 -> 224x224 h264). A future revision may add the remaining episodes of the full 32,246-episode / 34-task set.
Changes vs the sources (2026-07-13/14): episode subsetting, camera-key unification (top/leftwrist/rightwrist), 224x224 re-encode (molmo), joint-name unification, single-dataset merge with aggregated stats (q01-q99 + image stats). Not affiliated with XDOF, allenai, or the LeRobot team.
Load
from lerobot.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("kkipngenokoech/abc-molmoact2-yam-mix")