MolmoBot
~1.7M fully-simulated expert trajectories (5,704 h) for articulated-object manipulation and pick-and-place, generated in Ai2 MolmoSpaces to enable zero-shot sim-to-real transfer.
| Year | 2026 |
|---|---|
| Episodes | 1,700,000 |
| Total hours | 5,704 |
| Embodiments | franka_panda |
| Modalities | ee_pose, proprioception, rgb |
| Task categories | navigation, manipulation |
| License | custom |
| Access | open |
| Maintainer | Allen Institute for AI (Ai2) |
MolmoBot is a large-scale, fully-simulated robot manipulation dataset from Ai2 (Allen Institute for AI), built to enable zero-shot sim-to-real transfer.
- ~1.7M expert trajectories (5,704 hours) across 8 task types — articulated-object manipulation (opening doors, drawers, cabinets) and pick-and-place
- Generated entirely in simulation (MuJoCo via Ai2 MolmoSpaces) with aggressive domain randomization over objects, placements, viewpoints, lighting, textures, and dynamics
- 94K+ procedurally-generated environments, 11K+ unique objects, 9K+ receptacles
- Two robot platforms: Franka FR3 (DROID tabletop) and Rainbow Robotics RB-Y1 (mobile bimanual)
- Trained purely on this simulated data, MolmoBot reaches 79.2% zero-shot real-world tabletop pick-and-place success, vs 39.2% for pi-0.5
- Distributed as Parquet (auto-converted from tar.zst); ~10.3 TB. License: ODC-BY 1.0 (Ai2 Responsible Use Guidelines).