MolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation
Overview
This paper introduces MolmoBot-Engine, an open-source pipeline for generating procedural synthetic data across diverse robots and environments.
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Environment: simulation
“MolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation”
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Data origin: robot trajectories
“ng data, we show that zero-shot transfer to the real world is not only possible, but effective for both static and mobile manipulation. We introduce MolmoBot-Engine, a fully open-source pipeline for procedural data generation across robots, tasks, and diverse simulated environments in MolmoSpaces. With it, we release MolmoBot-Data, a dataset of 1.7 million expert trajectories for articulated object manipulation and p”
Exact source · revision 1Source owner not reported
Reported quantity · trajectories: 1700000 other · Basis not reported
“ng data, we show that zero-shot transfer to the real world is not only possible, but effective for both static and mobile manipulation. We introduce MolmoBot-Engine, a fully open-source pipeline for procedural data generation across robots, tasks, and diverse simulated environments in MolmoSpaces. With it, we release MolmoBot-Data, a dataset of 1.7 million expert trajectories for articulated object manipulation and p”
Exact source · revision 1Source owner not reported
Reported quantity · Reported success rate: 79.2 percent · reported trials · Reported zero-shot result; the excerpt does not specify an evaluation protocol.
“the Rainbow Robotics RB-Y1 mobile manipulator for door opening, drawer manipulation, cabinet interaction, and mobile pick-and-place. Without any real-world fine-tuning, our policies achieve zero-shot transfer to unseen objects and environments. On tabletop pick-and-place, MolmoBot achieves a success rate of 79.2% in real world evaluations across 4 settings, outperforming $\pi_{0.5}$ at 39.2%. Our results demonstrate”
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Reported quantity · robots: 2 other · Basis not reported
“ick-and-place tasks. We train three policy classes: MolmoBot, a Molmo2-based multi-frame vision-language model with a flow-matching action head; MolmoBot-Pi0, which replicates the $\pi_0$ architecture to enable direct comparison; and MolmoBot-SPOC, a lightweight policy suitable for edge deployment and amenable to RL fine-tuning. We evaluate on two robotic platforms: the Franka FR3 for tabletop manipulation tasks and”
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- arXiv Robotics — research abstractsSignalMolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation
This paper introduces MolmoBot-Engine, an open-source pipeline for generating procedural synthetic data across diverse robots and environments.
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