MolmoAct2 Datasets
Collection
Collection of robotics datasets for MolmoAct2 • 8 items • Updated • 6
Datasets:
is_first bool 2
classes | is_last bool 1
class | is_terminal bool 1
class | language_instruction stringlengths 2 459 | language_instruction_2 stringlengths 1 249 | language_instruction_3 stringlengths 1 253 | observation.state.gripper_position float32 0 1 | observation.state.cartesian_position listlengths 6 6 | observation.state.joint_position listlengths 7 7 | observation.state listlengths 8 8 | action.gripper_position float32 0 1 | action.gripper_velocity float32 -1 1 | action.cartesian_position listlengths 6 6 | action.cartesian_velocity listlengths 6 6 | action.joint_position listlengths 7 7 | action.joint_velocity listlengths 7 7 | action.original listlengths 7 7 | action listlengths 8 8 | discount float32 1 1 | reward float32 0 0 | task_category stringclasses 1
value | building stringclasses 1
value | collector_id stringclasses 1
value | date stringclasses 1
value | camera_extrinsics.wrist_left listlengths 6 6 | camera_extrinsics.exterior_1_left listlengths 6 6 | camera_extrinsics.exterior_2_left listlengths 6 6 | is_episode_successful bool 2
classes | timestamp float32 0 132 | frame_index int64 0 1.99k | episode_index int64 0 73.6k | index int64 0 17.5M | task_index int64 0 49k |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand in Data Studio
MolmoAct2-DROID Dataset
This dataset was created using LeRobot.
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.
Dataset Structure
See meta/info.json for dataset metadata.
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