molmo
Datasets
All datasets matching “molmo”MolmoAct-Midtraining-Mixture
MolmoAct - Midtraining Mixture
Data Mixture used for MolmoAct Midtraining. Contains MolmoAct Dataset formulated as Action Reasoning Data.
MolmoAct is a fully open-source action reasoning model for robotic manipulation developed by the Allen Institute for AI. MolmoAct is trained on a subset of OXE and MolmoAct Dataset, a dataset with 10k high-quality trajectories of a single-arm Franka robot performing 93 unique manipulation tasks in both home and tabletop environments. It has… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct-Midtraining-Mixture.molmobot-data
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 contain several instances of episode data.
We also provide an… See the full description on the dataset page: https://huggingface.co/datasets/allenai/molmobot-data.molmospaces
MolmoSpaces
This respository contains asset data for MolmoSpaces, including
Objects
Robots
Scenes
Grasps
Benchmarks
Updates
[2026/05/28] - New mujoco scene versions (ithor, procthor-10k-{train,val,test},
procthor-objaverse-{train,val}, and holodeck-objaverse-{train,val}) with included occupany maps (suffix _with_occupancy)
[2026/02/16] - Isaac-compatible USD objects and scenes now also available
Downloading
We recommend using the download.py… See the full description on the dataset page: https://huggingface.co/datasets/allenai/molmospaces.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.MolmoAct-DatasetThis dataset was created using LeRobot.
Dataset Description
This dataset contains MolmoAct Dataset in lerobot format. All contents in this dataset were collected in-house by Ai2.
Quick links:
📂 All Models
📂 All Data
📃 Paper
🎥 Blog Post
🎥 Video
Code
License and Use
This dataset is licensed under CC BY-4.0. It is intended for research and educational use in accordance with Ai2's Responsible Use Guidelines.
Citation
@misc{molmoact2025… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct-Dataset.MolmoAct-Pretraining-Mixture
MolmoAct - Pretraining Mixture
Data Mixture used for MolmoAct Pretraining. Contains a subset of OXE formulated as Action Reasoning Data along with auxiliary robot data and link to Multimodal Web data.
MolmoAct is a fully open-source action reasoning model for robotic manipulation developed by the Allen Institute for AI. MolmoAct is trained on a subset of OXE and MolmoAct Dataset, a dataset with 10k high-quality trajectories of a single-arm Franka robot performing 93 unique… See the full description on the dataset page: https://huggingface.co/datasets/allenai/MolmoAct-Pretraining-Mixture.