CC BY 4.0
The publisher's licence permits commercial use and redistribution, with attribution. Card states: 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; the guidelines are a request, not a licence term.
hf download allenai/MolmoAct-Dataset --repo-type dataset --include molmoact_dataset_tabletop/* --local-dir ./MolmoAct-DatasetPublic, no gate. Two folders, molmoact_dataset_household and molmoact_dataset_tabletop, about 814 GB together; the command pulls the tabletop one. Images are stored inside the parquet files rather than as MP4.
Specification, as published
- Episodes (stated)
- 10,000 episodes
- Scale
- over 10,000 high quality robot trajectories
- Task
- Tidying & put-away, Laundry & folding, Pick & place, Other
- Environment
- Indoor – home, Indoor – lab
- Modality
- RGB, Proprioception, Actions, Language
- Capture
- Exocentric
- In frame
- Robot hands
- Captured in
- North America
- Embodiment
- single-arm robot with parallel gripper (model not named on the card)
- Formats
- Parquet
- Size
- about 814 GB on the Hub
- Hosted on
- Hugging Face
Figures are the publisher's own. Kinetic Blocks has not measured this dataset.
About this dataset
The mid-training dataset behind Ai2's MolmoAct action reasoning models, collected in-house by Ai2 and published in LeRobot-style parquet. Two subsets: household (tasks such as arranging pillows on a couch or putting away laundry) and tabletop. Each step carries two third-person views and a wrist camera image, a 7-dimensional state and action, and the natural-language task. The card asks that use follow Ai2's Responsible Use Guidelines.
Publisher's own task names: arranging pillows on a living room couch, putting away laundry in a bedroom, tabletop manipulation.
What Kinetic Blocks did, and did not do
Indexed and linked from the publisher. Not hosted, verified or graded by Kinetic Blocks. The publisher's terms govern. The licence shown is the one stated on the publisher's page, linked above. Nothing on this page is a claim by Kinetic Blocks.
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