MolmoAct2-BimanualYAM Dataset
Collection
Collection of the MolmoAct2-BimanualYAM Dataset • 740 items • Updated • 11
Dataset Viewer
The dataset viewer is not available for this dataset.
Cannot get the config names for the dataset.
Error code: RetryableConfigNamesError
Exception: HfHubHTTPError
Message: 502 Server Error: Bad Gateway for url: https://huggingface.co/api/datasets/allenai/29122025-tablebuss-02/paths-info/009466282b168a443e51904eb498168fad600629
Traceback: Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/dataset/config_names.py", line 66, in compute_config_names_response
config_names = get_dataset_config_names(
^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/inspect.py", line 161, in get_dataset_config_names
dataset_module = dataset_module_factory(
^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/load.py", line 1207, in dataset_module_factory
raise e1 from None
File "/usr/local/lib/python3.12/site-packages/datasets/load.py", line 1182, in dataset_module_factory
).get_module()
^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/load.py", line 639, in get_module
data_files = DataFilesDict.from_patterns(
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/data_files.py", line 723, in from_patterns
else DataFilesList.from_patterns(
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/data_files.py", line 616, in from_patterns
resolve_pattern(
File "/usr/local/lib/python3.12/site-packages/datasets/data_files.py", line 372, in resolve_pattern
for filepath, info in fs.glob(fs_pattern, detail=True, **glob_kwargs).items():
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/huggingface_hub/hf_file_system.py", line 521, in glob
return super().glob(path, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/fsspec/spec.py", line 604, in glob
allpaths = self.find(root, maxdepth=depth, withdirs=True, detail=True, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/huggingface_hub/hf_file_system.py", line 556, in find
return super().find(
^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/fsspec/spec.py", line 495, in find
out[path] = self.info(path)
^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/huggingface_hub/hf_file_system.py", line 719, in info
paths_info = self._api.get_paths_info(
^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/huggingface_hub/utils/_validators.py", line 114, in _inner_fn
return fn(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/huggingface_hub/hf_api.py", line 3371, in get_paths_info
hf_raise_for_status(response)
File "/usr/local/lib/python3.12/site-packages/huggingface_hub/utils/_http.py", line 482, in hf_raise_for_status
raise _format(HfHubHTTPError, str(e), response) from e
huggingface_hub.errors.HfHubHTTPError: 502 Server Error: Bad Gateway for url: https://huggingface.co/api/datasets/allenai/29122025-tablebuss-02/paths-info/009466282b168a443e51904eb498168fad600629Need help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
This dataset was created using LeRobot.
MolmoAct2-BimanualYAM Dataset
This repository is one subset of 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 annotated language instructions in meta/tasks_annotated.parquet. The file is indexed by episode_index and has a task column containing our per-episode annotated instruction.
The standard LeRobot loader resolves a frame's language instruction through task_index: each data row stores a task_index, which is looked up in meta/tasks.parquet. When you use these annotations, load meta/tasks_annotated.parquet and look up the current episode_index instead. If no valid annotated row is available, fall back to the standard LeRobot task.
Visualization
Use the MolmoAct2 LeRobot Visualizer to inspect episodes from this dataset, including camera streams, robot state, actions, and language annotations.
Citation
@misc{fang2026molmoact2actionreasoningmodels,
title={MolmoAct2: Action Reasoning Models for Real-world Deployment},
author={Haoquan Fang and Jiafei Duan and Donovan Clay and Sam Wang and Shuo Liu and Weikai Huang and Xiang Fan and Wei-Chuan Tsai and Shirui Chen and Yi Ru Wang and Shanli Xing and Jaemin Cho and Jae Sung Park and Ainaz Eftekhar and Peter Sushko and Karen Farley and Angad Wadhwa and Cole Harrison and Winson Han and Ying-Chun Lee and Eli VanderBilt and Rose Hendrix and Suveen Ellawela and Lucas Ngoo and Joyce Chai and Zhongzheng Ren and Ali Farhadi and Dieter Fox and Ranjay Krishna},
year={2026},
eprint={2605.02881},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2605.02881},
}
Dataset Structure
{
"codebase_version": "v3.0",
"robot_type": "bi_yam_follower",
"total_episodes": 40,
"total_frames": 88768,
"total_tasks": 1,
"chunks_size": 1000,
"data_files_size_in_mb": 100,
"video_files_size_in_mb": 500,
"fps": 30,
"splits": {
"train": "0:40"
},
"data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
"video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
"features": {
"action": {
"dtype": "float32",
"names": [
"left_joint_0.pos",
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_gripper.pos",
"right_joint_0.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_gripper.pos"
],
"shape": [
14
]
},
"observation.state": {
"dtype": "float32",
"names": [
"left_joint_0.pos",
"left_joint_1.pos",
"left_joint_2.pos",
"left_joint_3.pos",
"left_joint_4.pos",
"left_joint_5.pos",
"left_gripper.pos",
"right_joint_0.pos",
"right_joint_1.pos",
"right_joint_2.pos",
"right_joint_3.pos",
"right_joint_4.pos",
"right_joint_5.pos",
"right_gripper.pos"
],
"shape": [
14
]
},
"observation.images.right": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 360,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.left": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 360,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"observation.images.top": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 360,
"video.width": 640,
"video.codec": "av1",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"video.fps": 30,
"video.channels": 3,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}
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