MolmoSpaces

This respository contains asset data for MolmoSpaces, including

• Objects
• Robots
• Scenes
• Grasps
• Benchmarks

Updates

• [2026/05/28] - New mujoco scene versions (ithor, procthor-10k-{train,val,test}, procthor-objaverse-{train,val}, and holodeck-objaverse-{train,val}) with included occupany maps (suffix _with_occupancy)
• [2026/02/16] - Isaac-compatible USD objects and scenes now also available

Downloading

We recommend using the download.py script to list available data sources and extract data from one or all sources to a local cache directory. To use the script you'll need a few dependecies in your Python environment that can be installed, e.g., by:

pip install zstandard datasets huggingface-hub tqdm

License

The Objaverse subset is licensed under ODC-BY 1.0. All other data subsets are licensed under CC BY 4.0. This dataset is intended for research and educational use in accordance with Ai2's Responsible Use Guidelines. The scripts are licensed under Apache 2.0.

Data Attributions

The xml files have been modified from the original versions provided by the following sources:

• mujoco_menagerie / franka_fr3 - Developed by Franka Robotics
• mujoco_menagerie / robotiq_2f85_v4 - Copyright (c) 2013, ROS-Industrial
• Rainbow Robotics / rby1-sdk - Copyright 2024-2025 Rainbow Robotics
• RUM Gripper - Copyright (c) 2026 NYU Generalizable Robotics and AI Lab (GRAIL)
• I2RT Robotics / i2rt Python API - Copyright (c) I2RT Robotics
• mujoco_menagerie / unitree_g1 - Copyright (c) 2016-2023 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")

The included metadata (downloadable from the mujoco/objects/objathor_metadata/20260129 source) provides the license for each object in the Objaverse subset.

We note that Objaverse models have been significantly modified to reduce memory and processing requirements, including mesh decimation, convex collider extraction, and baking of visual effects via Blender scripts, so the provided quality may not reflect the original model.

BibTeX

@misc{molmospaces2026,
  title={MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation},
  author={Yejin Kim and Wilbert Pumacay and Omar Rayyan and Max Argus and Winson Han and Eli VanderBilt and Jordi Salvador and Abhay Deshpande and Rose Hendrix and Snehal Jauhri and Shuo Liu and Nur Muhammad Mahi Shafiullah and Maya Guru and Arjun Guru and Ainaz Eftekhar and Karen Farley and Donovan Clay and Jiafei Duan and Piper Wolters and Alvaro Herrasti and Ying-Chun Lee and Georgia Chalvatzaki and Yuchen Cui and Ali Farhadi and Dieter Fox and Ranjay Krishna},
  year={2026},
  eprint={2602.11337},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2602.11337},
}