This dataset was created using LeRobot. MolmoAct2 BimanualYAM Dataset This repository is the merged ckpt / merged LeRobot dataset artifact for 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. Dataset Description Homepage: [More Information Needed] Paper: [More Information Needed] License: apache 2.0 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. Normalization Statistics For MolmoAct2 training, we did not train directly from this s…
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