MolmoAct2 Bimanual YAM Dataset
Ai2 bimanual YAM-arm tabletop manipulation: 32k episodes, 720+ hours, 34 tasks, 3 camera views.
| Year | 2026 |
|---|---|
| Episodes | 32,246 |
| Total hours | 720 |
| Embodiments | yam |
| Modalities | language, proprioception, rgb |
| Task categories | manipulation |
| License | Apache-2.0 |
| Access | open — commercial use permitted |
| Maintainer | Allen Institute for AI (Ai2) |
A large-scale bimanual manipulation dataset collected by Ai2 for MolmoAct2 using paired YAM follower arms. It contains 32,246 episodes (76M frames) spanning 34 tabletop tasks with 720+ hours of teleoperated demonstrations. Each episode provides three RGB camera views (left, right, top) plus 14-dim joint/gripper states, in LeRobot format with per-episode annotated language instructions.