MolmoAct Dataset

Ai2's own MolmoAct real-robot Franka dataset: household + tabletop EE manipulation, 3 camera views.

Ai2's self-collected MolmoAct real-robot manipulation dataset, used to train MolmoAct action reasoning models, covering household and tabletop domains. The Household split has 7,529 episodes across 115 tasks with varying viewpoints; the Tabletop split adds 2,959 episodes across 19 tasks with a fixed exocentric camera (~10,488 episodes total). It uses a Franka arm with three RGB views (primary, secondary, wrist) and a 7-dim end-effector action space, in LeRobot format with per-episode language annotations.