MolmoBot-SPOC-DROID

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MolmoBot-SPOC-DROID is the MolmoBot-SPOC model trained on simulation data on the Franka arm platform, without any real robot data. See here for usage instructions.

(This policy is trained with a fixed shoulder camera; camera pose randomization is not supported.)

Quickstart

import numpy as np

from molmobot_spoc.eval.config.franka_eval_config import FR3PickPlaceMultitaskEvalConfig
from molmobot_spoc.eval.spoc_policy import SPOCModelPolicy


config = FR3PickPlaceMultitaskEvalConfig()
policy = SPOCModelPolicy(config, config.task_type)

obs = {
    "exo_camera_1": np.zeros((576, 768, 3), dtype=np.uint8),
    "wrist_camera": np.zeros((576, 768, 3), dtype=np.uint8),
    "qpos": {
        "arm": np.zeros((7,), dtype=np.float32),
        "gripper": np.zeros((1,), dtype=np.float32),
    },
    "goal": "Pick up the <OBJECT_NAME> and place it in the <RECEPTACLE_NAME>",
    "object_image_points": {
        "pickup_obj": {
            "exo_camera_1": {
                "points": [[0.45, 0.52]]
            }
        },
        "place_receptacle": {
            "exo_camera_1": {
                "points": [[0.55, 0.48]]
            }
        }
    }
}

# NOTE: get_action saves an internal buffer with the chunk and returns actions 1 by 1.
# To get the whole chunk, use model_output_to_action.
action = policy.get_action(obs)
print(action)

BibTeX

@misc{deshpande2026molmobot,
      title={MolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation},
      author={Abhay Deshpande and Maya Guru and Rose Hendrix and Snehal Jauhri and Ainaz Eftekhar and Rohun Tripathi and Max Argus and Jordi Salvador and Haoquan Fang and Matthew Wallingford and Wilbert Pumacay and Yejin Kim and Quinn Pfeifer and Ying-Chun Lee and Piper Wolters and Omar Rayyan and Mingtong Zhang and Jiafei Duan and Karen Farley and Winson Han and Eli Vanderbilt and Dieter Fox and Ali Farhadi and Georgia Chalvatzaki and Dhruv Shah and Ranjay Krishna},
      year={2026},
      eprint={2603.16861},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2603.16861},
}