Research - Papers
Explore a selection of our published work on a variety of key research challenges in AI.
MolmoB0T: Large-Scale Simulation Enables Zero-Shot Manipulation
A prevailing view in robot learning is that simulation alone is not enough; effective sim-to-real transfer is widely believed to require at least some real-world data collection or task-specific…
VLS: Steering Pretrained Robot Policies via Vision-Language Models
Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarely reflect missing…
MolmoWeb: Open Visual Web Agent and Open Data for the Open Web
Web agents--autonomous systems that navigate and execute tasks on the web on behalf of users--have the potential to transform how people interact with the digital world. However, the most capable…
MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation
Deploying robots at scale demands robustness to the long tail of everyday situations. The countless variations in scene layout, object geometry, and task specifications that characterize real…
MolmoMotion: Forecasting Point Trajectories in 3D with Language Instruction
Motion forecasting is central to visual intelligence: agents must anticipate how objects will move in order to plan actions, reason about physical interactions, and synthesize realistic futures. We…
VideoNet: A Large-Scale Dataset for Domain-Specific Action Recognition
Videos are unique in their ability to capture actions which transcend multiple frames. Accordingly, for many years action recognition was the quintessential task for video understanding.…
MolmoAct: Action Reasoning Models that can Reason in Space
Reasoning is central to purposeful action, yet most robotic foundation models map perception and instructions directly to control, which limits adaptability, generalization, and semantic grounding.…
Recurrent-Depth VLA: Implicit Test-Time Compute Scaling of Vision-Language-Action Models via Latent Iterative Reasoning
Current Vision-Language-Action (VLA) models rely on fixed computational depth, expending the same amount of compute on simple adjustments and complex multi-step manipulation. While Chain-of-Thought…
Holodeck: Language Guided Generation of 3D Embodied AI Environments
3D simulated environments play a critical role in Embodied AI, but their creation requires expertise and extensive manual effort, restricting their diversity and scope. To miti-gate this limitation,…
The One RING: a Robotic Indoor Navigation Generalist
Modern robots vary significantly in shape, size, and sensor configurations used to perceive and interact with their environments. However, most navigation policies are embodiment-specific; a policy…