datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
MolmoAct2-BimanualYAM-DatasetThis dataset was created using LeRobot.
MolmoAct2-BimanualYAM Dataset
This repository is the merged ckpt / merged LeRobot dataset artifact for the MolmoAct2-BimanualYAM Dataset, a large-scale collection of bimanual robot manipulation demonstrations collected for MolmoAct2. Across the full collection, MolmoAct2-BimanualYAM contains more than 720 hours of training demonstrations spanning diverse tabletop manipulation tasks.
Language Annotations
This dataset includes… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-BimanualYAM-Dataset.molmoact2_so100_101_rbmMolmoAct2-DROID-Dataset
MolmoAct2-DROID Dataset
This dataset was created using LeRobot.
Language Annotations
This dataset includes annotated language instructions in meta/tasks_annotated.parquet. The file is indexed by episode_index and has a task column containing our per-episode annotated instruction.
The standard LeRobot loader resolves a frame's language instruction through task_index: each data row stores a task_index, which is looked up in meta/tasks.parquet. When you use these… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-DROID-Dataset.MolmoAct2-SO100_101-Dataset
MolmoAct2 SO-100/101 Dataset Manifest
This repository lists the SO-100 and SO-101 LeRobot datasets used for MolmoAct2 training. The datasets were collected from online LeRobot repositories, and this repository provides the annotated language instructions for each dataset.
The original dataset repositories are listed in repo_list.json. The list contains 1220 repositories from 377 users.
Language Annotations
Each dataset has a corresponding tasks_annotated.parquet… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-SO100_101-Dataset.MolmoAct2-LIBERO-DatasetThis dataset was created using LeRobot.
MolmoAct2-LIBERO Dataset
This repository contains the merged LeRobot LIBERO dataset used for MolmoAct2 finetuning experiments. It combines all four LIBERO suites used in our finetuning setup: LIBERO-Spatial, LIBERO-Goal, LIBERO-Object, and LIBERO-Long / LIBERO-10.
The merged dataset contains 1,693 episodes and 273,465 frame-level training examples at 10 FPS. It is intended for finetuning only. We did not use this dataset in MolmoAct2… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-LIBERO-Dataset.Spa_Bench_Full_MolmoAct2
Spa-Bench physical rollouts — MolmoAct2
Physical SO-101 rollout recordings for the MolmoAct2 Spa-Bench checkpoint at
epoch 12, step 76,596.
Scope and counts
This is a complete Spa-Bench evaluation: 900 episodes, comprising 300
primary withheld/OOD spatial trials and 600 diagnostic/control trials. The
repository contains 782,590 frames, 356 unique instruction strings, two
480×640 RGB streams, and six-dimensional state/action at 30 FPS.
Reported physical… See the full description on the dataset page: https://huggingface.co/datasets/justintiensmith/Spa_Bench_Full_MolmoAct2.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.MolmoAct2-RT-1-Dataset
MolmoAct2-RT-1 Dataset
This dataset was created using LeRobot.
Language Annotations
This dataset includes annotated language instructions in meta/tasks_annotated.parquet. The file is indexed by episode_index and has a task column containing our per-episode annotated instruction.
The standard LeRobot loader resolves a frame's language instruction through task_index: each data row stores a task_index, which is looked up in meta/tasks.parquet. When you use these… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-RT-1-Dataset.rollout_molmoact2_500eps_endeffector_eval_20260902_120317This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/mattpidden/rollout_molmoact2_500eps_endeffector_eval_20260902_120317.MolmoAct2-Bridge-Dataset
MolmoAct2-Bridge Dataset
This dataset was created using LeRobot.
Language Annotations
This dataset includes annotated language instructions in meta/tasks_annotated.parquet. The file is indexed by episode_index and has a task column containing our per-episode annotated instruction.
The standard LeRobot loader resolves a frame's language instruction through task_index: each data row stores a task_index, which is looked up in meta/tasks.parquet. When you use these… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-Bridge-Dataset.rollout_molmoact2_500eps_endeffector_incorrect_task_eval_20260904_104057This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/mattpidden/rollout_molmoact2_500eps_endeffector_incorrect_task_eval_20260904_104057.rollout_molmoact2_500eps_endeffector_hand_trace_eval_20260904_143115This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/mattpidden/rollout_molmoact2_500eps_endeffector_hand_trace_eval_20260904_143115.MolmoAct2-BC-Z-Dataset
MolmoAct2-BC-Z Dataset
This dataset was created using LeRobot.
Language Annotations
This dataset includes annotated language instructions in meta/tasks_annotated.parquet. The file is indexed by episode_index and has a task column containing our per-episode annotated instruction.
The standard LeRobot loader resolves a frame's language instruction through task_index: each data row stores a task_index, which is looked up in meta/tasks.parquet. When you use these… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-BC-Z-Dataset.rollout_molmoact2_Reasoning_Step_076596_CountingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/justintiensmith/rollout_molmoact2_Reasoning_Step_076596_Counting.MolmoAct2-MolmoAct-Dataset-Tabletop
MolmoAct2-MolmoAct-Dataset-Tabletop
This dataset was created using LeRobot.
Language Annotations
This dataset includes annotated language instructions in meta/tasks_annotated.parquet. The file is indexed by episode_index and has a task column containing our per-episode annotated instruction.
The standard LeRobot loader resolves a frame's language instruction through task_index: each data row stores a task_index, which is looked up in meta/tasks.parquet. When you… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct2-MolmoAct-Dataset-Tabletop.rollout_molmoact2_500eps_baseline_eval_20260901_173248This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/mattpidden/rollout_molmoact2_500eps_baseline_eval_20260901_173248.rollout_molmoact2_Reasoning_Step_076596_Referential_DisambiguationThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/justintiensmith/rollout_molmoact2_Reasoning_Step_076596_Referential_Disambiguation.MolmoAct2-BimanualYAM-DatasetThis dataset was created using LeRobot.
MolmoAct2-BimanualYAM Dataset
This repository is the merged ckpt / merged LeRobot dataset artifact for the MolmoAct2-BimanualYAM Dataset, a large-scale collection of bimanual robot manipulation demonstrations collected for MolmoAct2. Across the full collection, MolmoAct2-BimanualYAM contains more than 720 hours of training demonstrations spanning diverse tabletop manipulation tasks.
Language Annotations
This dataset includes… See the full description on the dataset page: https://huggingface.co/datasets/wanguu1/MolmoAct2-BimanualYAM-Dataset.rollout_molmoact2_Reasoning_Step_076596_Relational_PlacementThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/justintiensmith/rollout_molmoact2_Reasoning_Step_076596_Relational_Placement.molmoact2-so101-zero-shot-eval
MolmoAct2 SO-101 Zero-Shot Evaluation Traces
This repository contains evaluation traces from running allenai/MolmoAct2-SO100_101 zero-shot on an SO-101 robot arm using the official LeRobot MolmoAct2 integration plus a remote async inference setup.
This is an evaluation artifact, not a training dataset or model checkpoint. The model under test is AllenAI's released MolmoAct2 SO-100/SO-101 checkpoint.
Summary
MolmoAct2 remote inference was successfully brought up on… See the full description on the dataset page: https://huggingface.co/datasets/abdul004/molmoact2-so101-zero-shot-eval.rollout_molmoact2_Reasoning_Step_076596_Ordinal_Reference_OrderingThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/justintiensmith/rollout_molmoact2_Reasoning_Step_076596_Ordinal_Reference_Ordering.spa-bench-eval-rollouts-molmoact2-full
Spa-Bench Evaluation Rollouts — MolmoAct2 (Full)
Open this dataset in the LeRobot visualizer
This repository contains physical Spa-Bench rollout trajectories with synchronized middle and wrist RGB video, robot state, action, timestamps, episode indices, and task indices. The native Hugging Face Data Studio viewer is enabled through the Parquet files declared above.
Dataset summary
Coverage: 900 scored recordings.
Format: LeRobot v3 at 30 FPS.
Task families:… See the full description on the dataset page: https://huggingface.co/datasets/Spa-Bench/spa-bench-eval-rollouts-molmoact2-full.rollouts-molmoact2-500ep-eetcThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/end-effector-trace-conditioning/rollouts-molmoact2-500ep-eetc.rollouts-molmoact2-500ep-eetc-wrong-taskThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/end-effector-trace-conditioning/rollouts-molmoact2-500ep-eetc-wrong-task.rollout_molmoact2_so101_mdrift_d6231_step15000_large_green_cube_sync_0730_1116_20260730_111835This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/geonmin-kim/rollout_molmoact2_so101_mdrift_d6231_step15000_large_green_cube_sync_0730_1116_20260730_111835.rollout_molmoact2_so101_mdrift_freshenv__step15000_large_red_cube_sync_0812_1818_20260812_182118This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/geonmin-kim/rollout_molmoact2_so101_mdrift_freshenv__step15000_large_red_cube_sync_0812_1818_20260812_182118.rollouts-molmoact2-500ep-baselineThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/end-effector-trace-conditioning/rollouts-molmoact2-500ep-baseline.rollouts-molmoact2-500ep-eetc-hand-traceThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/end-effector-trace-conditioning/rollouts-molmoact2-500ep-eetc-hand-trace.rollout_molmoact2_so101_mfm_freshenv_dlo_step15000_large_red_cube_sync_0812_1807_20260812_180958This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/geonmin-kim/rollout_molmoact2_so101_mfm_freshenv_dlo_step15000_large_red_cube_sync_0812_1807_20260812_180958.rollout_molmoact2_so101_actionexpertonly_step20000_large_red_cube_sync_0814_1538_20260814_154053This dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"action": {
"dtype": "float32",
"names": [
"shoulder_pan.pos",
"shoulder_lift.pos",
"elbow_flex.pos",
"wrist_flex.pos",
"wrist_roll.pos",
"gripper.pos"
],
"shape": [
6… See the full description on the dataset page: https://huggingface.co/datasets/geonmin-kim/rollout_molmoact2_so101_actionexpertonly_step20000_large_red_cube_sync_0814_1538_20260814_154053.