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\ No newline at end of file
diff --git a/RBY1PickDataGenConfig/val_pkgs-00000-of-00001.parquet b/RBY1PickDataGenConfig/val_pkgs-00000-of-00001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..34b51a31a689ac54842af92e77a48176f747131b
--- /dev/null
+++ b/RBY1PickDataGenConfig/val_pkgs-00000-of-00001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3cfb8c58a77fe584058dbffee85e0a26035110c7a9c798a5d5152893adb6b1b
+size 4440
diff --git a/RBY1PickDataGenConfig/val_shards/00000.tar b/RBY1PickDataGenConfig/val_shards/00000.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f722e47217ae6aeddce65e9cabf772d4f5abd8da
--- /dev/null
+++ b/RBY1PickDataGenConfig/val_shards/00000.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 184678400
diff --git a/RBY1PickDataGenConfig/val_shards/00001.tar b/RBY1PickDataGenConfig/val_shards/00001.tar
new file mode 100644
index 0000000000000000000000000000000000000000..9faed63b228bfeceb3e77b67419be74c2c035a76
--- /dev/null
+++ b/RBY1PickDataGenConfig/val_shards/00001.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4acc62226fef48d0a375dc10ecbf86e8d3f944fdf5d25a41e053da10224714f9
+size 246067200
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..75704caea67616cd680306da1b420eaf3aec7783
--- /dev/null
+++ b/README.md
@@ -0,0 +1,609 @@
+---
+license:
+- odc-by
+- apache-2.0
+configs:
+- config_name: DoorOpeningDataGenConfig
+  data_files:
+  - split: pkgs
+    path: DoorOpeningDataGenConfig/pkgs-*
+  - split: val_pkgs
+    path: DoorOpeningDataGenConfig/val_pkgs-*
+  - split: train_pkgs
+    path: DoorOpeningDataGenConfig/train_pkgs-*
+- config_name: FrankaPickAndPlaceColorOmniCamConfig
+  data_files:
+  - split: pkgs
+    path: FrankaPickAndPlaceColorOmniCamConfig/pkgs-*
+  - split: val_pkgs
+    path: FrankaPickAndPlaceColorOmniCamConfig/val_pkgs-*
+  - split: train_pkgs
+    path: FrankaPickAndPlaceColorOmniCamConfig/train_pkgs-*
+- config_name: FrankaPickAndPlaceNextToOmniCamConfig
+  data_files:
+  - split: pkgs
+    path: FrankaPickAndPlaceNextToOmniCamConfig/pkgs-*
+  - split: val_pkgs
+    path: FrankaPickAndPlaceNextToOmniCamConfig/val_pkgs-*
+  - split: train_pkgs
+    path: FrankaPickAndPlaceNextToOmniCamConfig/train_pkgs-*
+- config_name: FrankaPickAndPlaceOmniCamConfig
+  data_files:
+  - split: pkgs
+    path: FrankaPickAndPlaceOmniCamConfig/pkgs-*
+  - split: val_pkgs
+    path: FrankaPickAndPlaceOmniCamConfig/val_pkgs-*
+  - split: train_pkgs
+    path: FrankaPickAndPlaceOmniCamConfig/train_pkgs-*
+- config_name: FrankaPickOmniCamConfig
+  data_files:
+  - split: pkgs
+    path: FrankaPickOmniCamConfig/pkgs-*
+  - split: val_pkgs
+    path: FrankaPickOmniCamConfig/val_pkgs-*
+  - split: train_pkgs
+    path: FrankaPickOmniCamConfig/train_pkgs-*
+- config_name: RBY1OpenDataGenConfig
+  data_files:
+  - split: pkgs
+    path: RBY1OpenDataGenConfig/pkgs-*
+  - split: val_pkgs
+    path: RBY1OpenDataGenConfig/val_pkgs-*
+  - split: train_pkgs
+    path: RBY1OpenDataGenConfig/train_pkgs-*
+- config_name: RBY1PickAndPlaceDataGenConfig
+  data_files:
+  - split: pkgs
+    path: RBY1PickAndPlaceDataGenConfig/pkgs-*
+  - split: val_pkgs
+    path: RBY1PickAndPlaceDataGenConfig/val_pkgs-*
+  - split: train_pkgs
+    path: RBY1PickAndPlaceDataGenConfig/train_pkgs-*
+- config_name: RBY1PickDataGenConfig
+  data_files:
+  - split: pkgs
+    path: RBY1PickDataGenConfig/pkgs-*
+  - split: val_pkgs
+    path: RBY1PickDataGenConfig/val_pkgs-*
+  - split: train_pkgs
+    path: RBY1PickDataGenConfig/train_pkgs-*
+- config_name: mujoco-training-data__franka-rby1-validation-data__DoorOpeningDataGenConfig__20260212
+  data_files:
+  - split: pkgs
+    path: mujoco-training-data__franka-rby1-validation-data__DoorOpeningDataGenConfig__20260212/pkgs-*
+- config_name: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceColorOmniCamConfig__20260212
+  data_files:
+  - split: pkgs
+    path: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceColorOmniCamConfig__20260212/pkgs-*
+- config_name: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceNextToOmniCamConfig__20260127
+  data_files:
+  - split: pkgs
+    path: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceNextToOmniCamConfig__20260127/pkgs-*
+- config_name: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceNextToOmniCamConfig__20260212
+  data_files:
+  - split: pkgs
+    path: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceNextToOmniCamConfig__20260212/pkgs-*
+- config_name: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceOmniCamConfig__20260127
+  data_files:
+  - split: pkgs
+    path: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceOmniCamConfig__20260127/pkgs-*
+- config_name: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceOmniCamConfig__20260210
+  data_files:
+  - split: pkgs
+    path: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceOmniCamConfig__20260210/pkgs-*
+- config_name: mujoco-training-data__franka-rby1-validation-data__FrankaPickOmniCamConfig__20260210
+  data_files:
+  - split: pkgs
+    path: mujoco-training-data__franka-rby1-validation-data__FrankaPickOmniCamConfig__20260210/pkgs-*
+- config_name: mujoco-training-data__franka-rby1-validation-data__RBY1OpenDataGenConfig__20260223
+  data_files:
+  - split: pkgs
+    path: mujoco-training-data__franka-rby1-validation-data__RBY1OpenDataGenConfig__20260223/pkgs-*
+- config_name: mujoco-training-data__franka-rby1-validation-data__RBY1PickAndPlaceDataGenConfig__20260212
+  data_files:
+  - split: pkgs
+    path: mujoco-training-data__franka-rby1-validation-data__RBY1PickAndPlaceDataGenConfig__20260212/pkgs-*
+- config_name: mujoco-training-data__franka-rby1-validation-data__RBY1PickAndPlaceDataGenConfig__20260221
+  data_files:
+  - split: pkgs
+    path: mujoco-training-data__franka-rby1-validation-data__RBY1PickAndPlaceDataGenConfig__20260221/pkgs-*
+- config_name: mujoco-training-data__franka-rby1-validation-data__RBY1PickDataGenConfig__20260212
+  data_files:
+  - split: pkgs
+    path: mujoco-training-data__franka-rby1-validation-data__RBY1PickDataGenConfig__20260212/pkgs-*
+- config_name: mujoco-training-data__franka-rby1-validation-data__RBY1PickDataGenConfig__20260221
+  data_files:
+  - split: pkgs
+    path: mujoco-training-data__franka-rby1-validation-data__RBY1PickDataGenConfig__20260221/pkgs-*
+dataset_info:
+- config_name: DoorOpeningDataGenConfig
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  - name: part
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 1883724
+    num_examples: 21431
+  - name: val_pkgs
+    num_bytes: 9061
+    num_examples: 104
+  - name: train_pkgs
+    num_bytes: 1494065
+    num_examples: 16998
+  download_size: 1124564
+  dataset_size: 3386850
+- config_name: FrankaPickAndPlaceColorOmniCamConfig
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  - name: part
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 533560
+    num_examples: 5341
+  - name: val_pkgs
+    num_bytes: 11402
+    num_examples: 115
+  - name: train_pkgs
+    num_bytes: 533560
+    num_examples: 5341
+  download_size: 431185
+  dataset_size: 1078522
+- config_name: FrankaPickAndPlaceNextToOmniCamConfig
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  - name: part
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 5859272
+    num_examples: 58074
+  - name: val_pkgs
+    num_bytes: 9022
+    num_examples: 90
+  - name: train_pkgs
+    num_bytes: 5859272
+    num_examples: 58074
+  download_size: 3158508
+  dataset_size: 11727566
+- config_name: FrankaPickAndPlaceOmniCamConfig
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  - name: part
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 8781663
+    num_examples: 92543
+  - name: val_pkgs
+    num_bytes: 22500
+    num_examples: 239
+  - name: train_pkgs
+    num_bytes: 8781663
+    num_examples: 92543
+  download_size: 4218989
+  dataset_size: 17585826
+- config_name: FrankaPickOmniCamConfig
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  - name: part
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 6368227
+    num_examples: 73291
+  - name: val_pkgs
+    num_bytes: 16688
+    num_examples: 194
+  - name: train_pkgs
+    num_bytes: 6368227
+    num_examples: 73291
+  download_size: 3294808
+  dataset_size: 12753142
+- config_name: RBY1OpenDataGenConfig
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  - name: part
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 893203
+    num_examples: 10522
+  - name: val_pkgs
+    num_bytes: 1817
+    num_examples: 22
+  - name: train_pkgs
+    num_bytes: 893203
+    num_examples: 10522
+  download_size: 620623
+  dataset_size: 1788223
+- config_name: RBY1PickAndPlaceDataGenConfig
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  - name: part
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 921229
+    num_examples: 9917
+  - name: val_pkgs
+    num_bytes: 2480
+    num_examples: 27
+  - name: train_pkgs
+    num_bytes: 920114
+    num_examples: 9905
+  download_size: 580488
+  dataset_size: 1843823
+- config_name: RBY1PickDataGenConfig
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  - name: part
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 2622934
+    num_examples: 30898
+  - name: val_pkgs
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+    num_examples: 51
+  - name: train_pkgs
+    num_bytes: 2610373
+    num_examples: 30750
+  download_size: 1767900
+  dataset_size: 5237590
+- config_name: mujoco-training-data__franka-rby1-validation-data__DoorOpeningDataGenConfig__20260212
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 8418
+    num_examples: 106
+  download_size: 5708
+  dataset_size: 8418
+- config_name: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceColorOmniCamConfig__20260212
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 10695
+    num_examples: 117
+  download_size: 6006
+  dataset_size: 10695
+- config_name: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceNextToOmniCamConfig__20260127
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 4812
+    num_examples: 52
+  download_size: 4290
+  dataset_size: 4812
+- config_name: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceNextToOmniCamConfig__20260212
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 3920
+    num_examples: 42
+  download_size: 4051
+  dataset_size: 3920
+- config_name: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceOmniCamConfig__20260127
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  splits:
+  - name: pkgs
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+    num_examples: 86
+  download_size: 5213
+  dataset_size: 7447
+- config_name: mujoco-training-data__franka-rby1-validation-data__FrankaPickAndPlaceOmniCamConfig__20260210
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
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+  - name: inflated_size
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+  splits:
+  - name: pkgs
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+    num_examples: 158
+  download_size: 7070
+  dataset_size: 13660
+- config_name: mujoco-training-data__franka-rby1-validation-data__FrankaPickOmniCamConfig__20260210
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
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+  - name: inflated_size
+    dtype: int64
+  splits:
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+    num_examples: 198
+  download_size: 7690
+  dataset_size: 15533
+- config_name: mujoco-training-data__franka-rby1-validation-data__RBY1OpenDataGenConfig__20260223
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
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+    dtype: int64
+  - name: inflated_size
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+  splits:
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+    num_examples: 24
+  download_size: 3435
+  dataset_size: 1824
+- config_name: mujoco-training-data__franka-rby1-validation-data__RBY1PickAndPlaceDataGenConfig__20260212
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
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+  - name: offset
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+  - name: inflated_size
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+  splits:
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+    num_examples: 18
+  download_size: 3364
+  dataset_size: 1567
+- config_name: mujoco-training-data__franka-rby1-validation-data__RBY1PickAndPlaceDataGenConfig__20260221
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 1206
+    num_examples: 14
+  download_size: 3237
+  dataset_size: 1206
+- config_name: mujoco-training-data__franka-rby1-validation-data__RBY1PickDataGenConfig__20260212
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 1854
+    num_examples: 24
+  download_size: 3452
+  dataset_size: 1854
+- config_name: mujoco-training-data__franka-rby1-validation-data__RBY1PickDataGenConfig__20260221
+  features:
+  - name: path
+    dtype: string
+  - name: shard_id
+    dtype: int64
+  - name: offset
+    dtype: int64
+  - name: size
+    dtype: int64
+  - name: inflated_size
+    dtype: int64
+  splits:
+  - name: pkgs
+    num_bytes: 2387
+    num_examples: 31
+  download_size: 3630
+  dataset_size: 2387
+tags:
+- robotics
+- embodied ai
+- manipulation
+- mobile manipulation
+- pick-and-place
+- proprioception
+- multi-view video
+language:
+- en
+size_categories:
+- 1M<n<10M
+---
+
+# MolmoBot-data
+
+Training episode data (actions, visual inputs, and other sensor data) for 8 tasks on 2 robotic platforms:
+- DoorOpeningDataGenConfig
+- RBY1OpenDataGenConfig
+- RBY1PickDataGenConfig
+- FrankaPickOmniCamConfig
+- RBY1PickAndPlaceDataGenConfig
+- FrankaPickAndPlaceOmniCamConfig
+- FrankaPickAndPlaceColorOmniCamConfig
+- FrankaPickAndPlaceNextToOmniCamConfig
+
+Please note that every package indexed by the parquet files can contan several instances of episode data.
+
+## Data access
+
+A standalone example of how to access the episode data via streaming is included in [stream_access_example.py](stream_access_example.py).
+To launch it you might need to install some dependencies, e.g., by:
+```bash
+pip install h5py 'imageio[ffmpeg]' requests zstandard datasets huggingface_hub
+```
+
+### Bulk download
+
+We recommend to use [bulk_download.py](bulk_download.py).
+
+### Dataset post-processing and stats
+
+After bulk downloading, please use [validate_trajectories.py](validate_trajectories.py) and [calculate_stats.py](calculate_stats.py).
+
+## License
+
+This dataset is licensed under [ODC-BY 1.0](https://opendatacommons.org/licenses/by/1-0/).
+It is intended for research and educational use in accordance with Ai2's [Responsible Use Guidelines](https://allenai.org/responsible-use).
+
+The subset of Objaverse used to generate these data is licensed under [ODC-BY 1.0](https://opendatacommons.org/licenses/by/1-0/),
+with license information accessible, e.g., through the [license_info.py](license_info.py) script.
+
+The scripts are licensed under [Apache 2.0](https://github.com/allenai/molmospaces/blob/main/LICENSE).
+
+## 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},
+}
+```
\ No newline at end of file
diff --git a/bulk_download.py b/bulk_download.py
new file mode 100644
index 0000000000000000000000000000000000000000..76988044c2c4430176dbab6197595b5485a1f15e
--- /dev/null
+++ b/bulk_download.py
@@ -0,0 +1,461 @@
+"""Download and extract molmobot-data.
+
+Downloads whole shard tars from allenai/molmobot-data, decompresses each
+inner .tar.zst archive, and extracts its contents into:
+
+    <target_dir>/<task_config>/part<X>/train/…
+
+A local JSON manifest tracks progress per-shard so that interrupted
+downloads can be resumed without re-extracting already-completed shards.
+"""
+
+import argparse
+import io
+import json
+import os
+import shutil
+import tarfile
+from collections import defaultdict
+from pathlib import Path
+
+try:
+    import datasets
+    import zstandard as zstd
+    from datasets import load_dataset
+    from huggingface_hub import hf_hub_download
+    from tqdm import tqdm
+except ImportError:
+    print(
+        "Please install dependencies with e.g.\n"
+        "  pip install zstandard datasets huggingface_hub tqdm"
+    )
+    raise
+
+datasets.logging.set_verbosity_error()
+datasets.disable_progress_bars()
+
+REPO = "allenai/molmobot-data"
+REPO_TYPE = "dataset"
+
+TASK_CONFIGS = [
+    "DoorOpeningDataGenConfig",
+    "FrankaPickAndPlaceColorOmniCamConfig",
+    "FrankaPickAndPlaceNextToOmniCamConfig",
+    "FrankaPickAndPlaceOmniCamConfig",
+    "FrankaPickOmniCamConfig",
+    "RBY1OpenDataGenConfig",
+    "RBY1PickAndPlaceDataGenConfig",
+    "RBY1PickDataGenConfig",
+]
+
+MANIFEST_FILENAME = "download_manifest.json"
+
+
+def _format_size(size_bytes: int) -> str:
+    if size_bytes >= 1024**4:
+        return f"{size_bytes / 1024**4:.2f} TiB"
+    if size_bytes >= 1024**3:
+        return f"{size_bytes / 1024**3:.2f} GiB"
+    if size_bytes >= 1024**2:
+        return f"{size_bytes / 1024**2:.2f} MiB"
+    if size_bytes >= 1024:
+        return f"{size_bytes / 1024:.2f} KiB"
+    return f"{size_bytes} B"
+
+
+def _manifest_path(target_dir: str) -> Path:
+    return Path(target_dir) / MANIFEST_FILENAME
+
+
+def _load_manifest(target_dir: str) -> dict:
+    """Load the local progress manifest.
+
+    Structure::
+
+        {
+            "<config_name>": {
+                "num_completed_entries": [120, 124, ...]
+                "completed_shards": [0, 1, ...]
+            },
+            ...
+        }
+    """
+    if target_dir is None:
+        return {}
+
+    p = _manifest_path(target_dir)
+    if p.is_file():
+        with open(p) as f:
+            return json.load(f)
+    return {}
+
+
+def _save_manifest(target_dir: str, manifest: dict) -> None:
+    p = _manifest_path(target_dir)
+    os.makedirs(p.parent, exist_ok=True)
+    tmp = p.with_suffix(".tmp")
+    with open(tmp, "w") as f:
+        json.dump(manifest, f, indent=2)
+    tmp.replace(p)
+
+
+def load_entries(config_name: str) -> list[dict]:
+    """Load the parquet arrow table for a task config as a list of dicts."""
+    ds = load_dataset(REPO, name=config_name, split="pkgs")
+    return [row for row in ds]
+
+
+def summarize_config(config_name: str, entries: list[dict]) -> dict:
+    """Return a summary dict with sizes, shard/part counts."""
+    compressed = sum(e["size"] for e in entries)
+    inflated = sum(e.get("inflated_size", 0) for e in entries)
+    has_inflated = entries and "inflated_size" in entries[0]
+    parts = sorted(set(e["part"] for e in entries))
+    shards = sorted(set(e["shard_id"] for e in entries))
+
+    per_part: dict[int, dict] = {}
+    for p in parts:
+        part_entries = [e for e in entries if e["part"] == p]
+        part_compressed = sum(e["size"] for e in part_entries)
+        part_inflated = sum(e.get("inflated_size", 0) for e in part_entries)
+        per_part[p] = {
+            "entries": len(part_entries),
+            "compressed": part_compressed,
+            "inflated": part_inflated if has_inflated else None,
+        }
+
+    return {
+        "config": config_name,
+        "entries": len(entries),
+        "compressed": compressed,
+        "inflated": inflated if has_inflated else None,
+        "parts": parts,
+        "shards": shards,
+        "per_part": per_part,
+    }
+
+
+def print_summary(summary: dict) -> None:
+    print(f"  Task config:   {summary['config']}")
+    print(f"  Entries:       {summary['entries']}")
+    print(f"  Shards:        {len(summary['shards'])}")
+    print(f"  Parts:         {len(summary['parts'])}")
+    print(f"  Download size: {_format_size(summary['compressed'])}")
+    if summary["inflated"] is not None:
+        print(f"  Extracted size: {_format_size(summary['inflated'])}")
+    else:
+        print(f"  Extracted size: (unknown)")
+    for p, info in sorted(summary["per_part"].items()):
+        dl = _format_size(info["compressed"])
+        ex = _format_size(info["inflated"]) if info["inflated"] is not None else "unknown"
+        print(f"    part {p}: {info['entries']} entries, dl {dl}, extracted {ex}")
+
+
+def _extract_tar_zst_bytes(data: bytes, output_dir: str) -> None:
+    """Decompress a .tar.zst payload and stream-extract into *output_dir*."""
+    dctx = zstd.ZstdDecompressor()
+    with dctx.stream_reader(io.BytesIO(data)) as reader:
+        with tarfile.open(fileobj=reader, mode="r|") as tar:
+            tar.extractall(path=output_dir)
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(
+        description="Download molmobot training data from Hugging Face.",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        epilog=("Available task configs:\n" + "\n".join(f"  - {c}" for c in TASK_CONFIGS)),
+    )
+    parser.add_argument(
+        "target_dir",
+        nargs="?",
+        default=None,
+        help="Local root directory to extract data into.",
+    )
+    parser.add_argument(
+        "--config",
+        choices=TASK_CONFIGS,
+        default=None,
+        help="Download a single task config. Omit to see --list or use --all.",
+    )
+    parser.add_argument(
+        "--all",
+        action="store_true",
+        dest="download_all",
+        help="Download all task configs.",
+    )
+    parser.add_argument(
+        "--part",
+        type=int,
+        default=None,
+        help="Download only a specific part (e.g. --part 0).",
+    )
+    parser.add_argument(
+        "--list",
+        action="store_true",
+        dest="list_only",
+        help="List available task configs and their sizes, then exit.",
+    )
+    parser.add_argument(
+        "-y",
+        "--yes",
+        action="store_true",
+        help="Skip confirmation prompts.",
+    )
+    parser.add_argument(
+        "--max_part_shards",
+        type=int,
+        default=None,
+        help="Extract only the given number of shards per part.",
+    )
+    args = parser.parse_args()
+
+    if not args.list_only and args.target_dir is None:
+        parser.error("target_dir is required.")
+
+    configs_to_process: list[str] = []
+    if args.config:
+        configs_to_process = [args.config]
+    elif args.download_all or args.list_only:
+        configs_to_process = list(TASK_CONFIGS)
+    else:
+        parser.error("Specify --config <NAME>, --all, or --list.")
+
+    # Load entries and compute summaries
+    all_entries: dict[str, list[dict]] = {}
+    total_compressed = 0
+    total_inflated = 0
+    has_all_inflated = True
+
+    print(f"Loading metadata for {len(configs_to_process)} config(s)...\n")
+
+    manifest = _load_manifest(args.target_dir)
+
+    configs_to_skip = set()
+    for config_name in configs_to_process:
+        part_to_shard_to_entries: dict[int, dict[int, list[dict]]] = {}
+        entries = load_entries(config_name)
+
+        part_entries = defaultdict(list)
+        for e in entries:
+            part_entries[e["part"]].append(e)
+
+        for part in part_entries:
+            shard_to_entries = defaultdict(list)
+            for e in part_entries[part]:
+                shard_to_entries[e["shard_id"]].append(e)
+            part_to_shard_to_entries[part] = {**shard_to_entries}
+
+        if args.part is not None:
+            if args.part not in part_to_shard_to_entries:
+                print(f"  {config_name} has no part {args.part}. Skipping")
+                configs_to_skip.add(config_name)
+                continue
+            if args.max_part_shards is not None:
+                shard_to_entries = part_to_shard_to_entries[args.part]
+                shards = sorted(shard_to_entries.keys())[: args.max_part_shards]
+                part_to_shard_to_entries = {args.part: {s: shard_to_entries[s] for s in shards}}
+        else:
+            if args.max_part_shards is not None:
+                for part in part_to_shard_to_entries:
+                    shard_to_entries = part_to_shard_to_entries[part]
+                    shards = sorted(shard_to_entries.keys())[: args.max_part_shards]
+                    part_to_shard_to_entries[part] = {s: shard_to_entries[s] for s in shards}
+
+        # Show resume status and filter out fully-completed configs
+        cfg_m = manifest.get(config_name, {})
+        done_shards = set(cfg_m.get("completed_shards", []))
+        if done_shards:
+            required_shards = set(
+                sum(
+                    [
+                        list(shard_to_entries.keys())
+                        for part, shard_to_entries in part_to_shard_to_entries.items()
+                    ],
+                    [],
+                )
+            )
+            missing_shards = required_shards - done_shards
+            if not missing_shards:
+                print(f"  {config_name}: already fully extracted, skipping")
+                configs_to_skip.add(config_name)
+                continue
+            else:
+                print(
+                    f"  {config_name}: {len(missing_shards)}/{len(required_shards)} "
+                    f"shards pending extraction (will resume)"
+                )
+
+        entries = [
+            e
+            for part, shard_to_entries in part_to_shard_to_entries.items()
+            for shard, entries in shard_to_entries.items()
+            for e in entries
+            if shard not in done_shards
+        ]
+
+        all_entries[config_name] = entries
+        summary = summarize_config(config_name, entries)
+
+        print_summary(summary)
+        total_compressed += summary["compressed"]
+        if summary["inflated"] is not None:
+            total_inflated += summary["inflated"]
+        else:
+            has_all_inflated = False
+        print()
+
+    configs_to_process = [
+        config_name for config_name in configs_to_process if config_name not in configs_to_skip
+    ]
+
+    if len(configs_to_process) > 1:
+        print(f"Total across {len(configs_to_process)} configs:")
+        print(f"  Download size:  {_format_size(total_compressed)}")
+        if has_all_inflated:
+            print(f"  Extracted size: {_format_size(total_inflated)}")
+        else:
+            print(f"  Extracted size: (partially unknown)")
+        print()
+
+    if args.list_only:
+        return
+
+    if not configs_to_process:
+        print("\nNothing to download — all configs are fully extracted.")
+        return
+
+    if not args.yes:
+        answer = input("\nProceed with download? [Y/n] ").strip().lower()
+        if answer and answer not in ("y", "yes"):
+            print("Aborted.")
+            return
+
+    for config_name in configs_to_process:
+        print(f"\n{'=' * 60}")
+        print(f"  {config_name}")
+        print(f"{'=' * 60}")
+        try:
+            download_and_extract_config(
+                config_name,
+                args.target_dir,
+                entries=all_entries[config_name],
+            )
+        except KeyboardInterrupt:
+            print("\nInterrupted. Progress has been saved; re-run to resume.")
+            raise SystemExit(1)
+        except Exception as e:
+            print(f"FAILED: {config_name} — {e}")
+
+    print("\nAll done.")
+
+
+def download_and_extract_config(
+    config_name: str,
+    target_dir: str,
+    entries: list[dict] | None = None,
+) -> None:
+    """Download and extract all shards for a single task config.
+
+    Whole shard tars are downloaded via ``hf_hub_download`` (which caches
+    them).  Each inner ``.tar.zst`` member is decompressed and extracted
+    into ``<target_dir>/<config_name>/part<X>/train/``.
+
+    Progress is tracked per-shard in a local manifest so that interrupted
+    runs can be resumed.
+    """
+    if entries is None:
+        print(f"Loading entry table for {config_name}...")
+        entries = load_entries(config_name)
+
+    # Build lookup: path -> entry (for part resolution)
+    path_to_entry = {e["path"]: e for e in entries}
+
+    # Group entries by shard
+    shard_to_paths: dict[int, list[str]] = defaultdict(list)
+    for e in entries:
+        shard_to_paths[e["shard_id"]].append(e["path"])
+    all_shard_ids = sorted(shard_to_paths.keys())
+
+    # Load manifest for resume
+    manifest = _load_manifest(target_dir)
+    cfg_manifest = manifest.setdefault(config_name, {})
+    completed_shards: set[int] = set(cfg_manifest.get("completed_shards", []))
+    num_completed_entries: list[int] = cfg_manifest.get("num_completed_entries", [])
+
+    remaining_shards = [s for s in all_shard_ids if s not in completed_shards]
+    if completed_shards:
+        print(
+            f"Resuming: {len(completed_shards)} shard(s) already done, "
+            f"{len(remaining_shards)} remaining"
+        )
+
+    if not remaining_shards:
+        print(f"All shards for {config_name} already extracted.")
+        return
+
+    print(f"Downloading & extracting {len(remaining_shards)} shard(s) for {config_name}...")
+
+    # Use a temporary cache dir so shard downloads don't accumulate
+    # in the default HF cache (~/.cache/huggingface/hub/).
+    shard_cache_dir = os.path.join(target_dir, ".shard_cache")
+    os.makedirs(shard_cache_dir, exist_ok=True)
+
+    try:
+        for shard_id in tqdm(remaining_shards, desc=f"{config_name} shards"):
+            entries_count = 0
+
+            shard_filename = f"{config_name}/shards/{shard_id:05d}.tar"
+
+            shard_local = hf_hub_download(
+                repo_id=REPO,
+                filename=shard_filename,
+                repo_type=REPO_TYPE,
+                revision="main",
+                cache_dir=shard_cache_dir,
+            )
+
+            with tarfile.open(shard_local, "r:") as shard_tar:
+                members = [m for m in shard_tar.getmembers() if m.isfile()]
+                for member in tqdm(
+                    members,
+                    desc=f"  extracting shard {shard_id:05d}",
+                    leave=False,
+                ):
+                    archive_path = member.name
+
+                    entry = path_to_entry.get(archive_path)
+                    if entry is None:
+                        continue
+
+                    part = entry["part"]
+                    extract_dir = os.path.join(target_dir, config_name, f"part{part}", "train")
+                    os.makedirs(extract_dir, exist_ok=True)
+
+                    fobj = shard_tar.extractfile(member)
+                    if fobj is None:
+                        continue
+                    data = fobj.read()
+                    _extract_tar_zst_bytes(data, extract_dir)
+                    entries_count += 1
+
+            # Wipe the temporary cache after each shard to reclaim disk
+            shutil.rmtree(shard_cache_dir, ignore_errors=True)
+            os.makedirs(shard_cache_dir, exist_ok=True)
+
+            completed_shards.add(shard_id)
+            num_completed_entries.append(entries_count)
+
+            # Persist progress after each shard
+            cfg_manifest["completed_shards"] = sorted(completed_shards)
+            cfg_manifest["num_completed_entries"] = num_completed_entries
+            _save_manifest(target_dir, manifest)
+    finally:
+        shutil.rmtree(shard_cache_dir, ignore_errors=True)
+
+    print(
+        f"Done extracting {config_name} ({sum(num_completed_entries)} entries, {len(completed_shards)} shards)."
+    )
+
+
+if __name__ == "__main__":
+    main()
diff --git a/calculate_stats.py b/calculate_stats.py
new file mode 100644
index 0000000000000000000000000000000000000000..f493d394b54b8f96fbbfa8ef7f9a96e93da31a5c
--- /dev/null
+++ b/calculate_stats.py
@@ -0,0 +1,303 @@
+"""
+Postprocess data by calculating statistics for each trajectory and saving them to a stats group within the same file.
+"""
+
+import argparse
+from collections import defaultdict
+from concurrent.futures import ProcessPoolExecutor, CancelledError, Future, as_completed
+from threading import Semaphore, Lock
+import os
+import json
+import glob
+import traceback
+from typing import TypeAlias
+
+import numpy as np
+from tqdm import tqdm
+import h5py
+
+
+StatsDict: TypeAlias = dict[str, np.ndarray | float | int]
+
+STATS_GROUP_NAME = "stats"
+
+
+def get_args():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("data_root")
+
+    dry_run_group = parser.add_mutually_exclusive_group()
+    dry_run_group.add_argument(
+        "--dry-run",
+        action="store_true",
+        help="Calculate trajectory stats but do not write anything",
+    )
+    dry_run_group.add_argument(
+        "--aggregate-only",
+        action="store_true",
+        help="Only calculate and save aggregate stats, do not write trajectory stats to data files",
+    )
+    parser.add_argument("--num-workers", type=int, default=32)
+
+    group = parser.add_mutually_exclusive_group(required=True)
+    group.add_argument("--keys", nargs="+", help="List of data keys to calculate statistics for")
+    group.add_argument(
+        "--keys-file",
+        help="File containing a newline-delimited list of data keys to calculate statistics for",
+    )
+    return parser.parse_args()
+
+
+def load_dicts_data(key: str, data: h5py.Dataset) -> list[dict]:
+    ret = []
+    for i in range(data.shape[0]):
+        data_str = data[i].tobytes().decode("utf-8").rstrip("\x00")
+        try:
+            d = json.loads(data_str)
+        except json.JSONDecodeError as e:
+            raise ValueError(f"Error decoding key {key} index {i} as JSON: {data_str}") from e
+        ret.append(d)
+    return ret
+
+
+def calculate_data_stats(
+    traj_group: h5py.Group, traj_stats_group: h5py.Group | None, data_key: str
+) -> dict[str, StatsDict]:
+    data = traj_group[data_key]
+    if np.issubdtype(data.dtype, np.integer):
+        # assume byte-encoded json-encoded dicts
+        assert data.ndim == 2
+        dicts = load_dicts_data(data_key, data)
+
+        # special case for actions: remove the first (dummmy) and last (done sentinel) actions
+        if data_key.startswith("actions/"):
+            dicts = dicts[1:-1]
+
+        # collect all keys across all dicts (some timesteps may have different keys)
+        all_keys: set[str] = set()
+        for d in dicts:
+            all_keys.update(d.keys())
+
+        stats_dict = {}
+        for k in all_keys:
+            # only include values from dicts where this key exists
+            values = [d[k] for d in dicts if k in d]
+            if len(values) == 0:
+                continue
+            data = np.array(values)
+            stats_dict[k] = {
+                "mean": np.mean(data, axis=0).tolist(),
+                "std": np.std(data, axis=0).tolist(),
+                "min": np.min(data, axis=0).tolist(),
+                "max": np.max(data, axis=0).tolist(),
+                "count": len(data),
+                "sum": np.sum(data, axis=0).tolist(),
+                "sum_sq": np.sum(data**2, axis=0).tolist(),
+            }
+        stats_dict_str = json.dumps(stats_dict)
+        if traj_stats_group is not None:
+            traj_stats_group.create_dataset(f"{data_key}", data=stats_dict_str)
+        return stats_dict
+    elif np.issubdtype(data.dtype, np.floating):
+        assert data.ndim == 2, f"Data for key {data_key} should be 2D, but is {data.ndim}D"
+        stats_dict = {
+            "mean": np.mean(data, axis=0),
+            "std": np.std(data, axis=0),
+            "min": np.min(data, axis=0),
+            "max": np.max(data, axis=0),
+            "count": len(data),
+            "sum": np.sum(data, axis=0),
+            "sum_sq": np.sum(data**2, axis=0),
+        }
+        if traj_stats_group is not None:
+            for k, v in stats_dict.items():
+                traj_stats_group.create_dataset(f"{data_key}/{k}", data=v)
+        # key by sentinel value "" since there's only one value
+        return {"": {k: v.tolist() for k, v in stats_dict.items()}}
+    else:
+        raise ValueError(
+            f"Unsupported data type for {data_key}: {data.dtype} (shape: {data.shape})"
+        )
+
+
+def calculate_group_stats(
+    traj_group: h5py.Group, traj_stats_group: h5py.Group | None, group_key: str
+) -> dict[str, StatsDict]:
+    ret = {}
+    for key in traj_group[group_key].keys():
+        full_key = f"{group_key}/{key}"
+        if isinstance(traj_group[full_key], h5py.Group):
+            ret.update(calculate_group_stats(traj_group, traj_stats_group, full_key))
+        elif isinstance(traj_group[full_key], h5py.Dataset):
+            stats = calculate_data_stats(traj_group, traj_stats_group, full_key)
+            if "" in stats:
+                assert len(stats) == 1, "Expected only one key in stats dict"
+                ret[full_key] = stats[""]
+            else:
+                for k, v in stats.items():
+                    ret[f"{full_key}/{k}"] = v
+
+    return ret
+
+
+def calculate_traj_stats(
+    traj_group: h5py.Group, traj_stats_group: h5py.Group | None, data_keys: list[str]
+):
+    ret: dict[str, StatsDict] = {}
+    for data_key in data_keys:
+        if isinstance(traj_group[data_key], h5py.Group):
+            ret.update(calculate_group_stats(traj_group, traj_stats_group, data_key))
+        elif isinstance(traj_group[data_key], h5py.Dataset):
+            stats = calculate_data_stats(traj_group, traj_stats_group, data_key)
+            if "" in stats:
+                assert len(stats) == 1, "Expected only one key in stats dict"
+                ret[data_key] = stats[""]
+            else:
+                for k, v in stats.items():
+                    ret[f"{data_key}/{k}"] = v
+    return ret
+
+
+def merge_stats_dicts(stats_dicts: list[StatsDict]) -> StatsDict:
+    summed = np.sum([d["sum"] for d in stats_dicts], axis=0)
+    summed_sq = np.sum([d["sum_sq"] for d in stats_dicts], axis=0)
+    count = sum(d["count"] for d in stats_dicts)
+    mean = summed / count
+    merged_stats = {
+        "mean": mean,
+        "std": np.sqrt(summed_sq / count - mean**2),
+        "min": np.min([d["min"] for d in stats_dicts], axis=0),
+        "max": np.max([d["max"] for d in stats_dicts], axis=0),
+        "count": count,
+        "sum": summed,
+        "sum_sq": summed_sq,
+    }
+    return merged_stats
+
+
+def sanitize_dict(d: dict) -> dict:
+    for k, v in d.items():
+        if isinstance(v, dict):
+            d[k] = sanitize_dict(v)
+        elif isinstance(v, np.ndarray):
+            d[k] = v.tolist()
+        elif isinstance(v, (np.floating, np.integer, np.bool_)):
+            d[k] = v.item()
+    return d
+
+
+def process_data_file(args, data_file: str, traj_keys: list[str], keys: list[str]):
+    stats_dicts: dict[str, list[StatsDict]] = defaultdict(list)
+    with h5py.File(data_file, "r" if args.dry_run else "r+") as f:
+        if STATS_GROUP_NAME in f and not args.dry_run:
+            del f[STATS_GROUP_NAME]
+
+        if not args.dry_run:
+            stats_group = f.create_group(STATS_GROUP_NAME)
+        else:
+            stats_group = None
+
+        try:
+            for traj_key in traj_keys:
+                if not args.dry_run:
+                    traj_stats_group = stats_group.create_group(traj_key)
+                else:
+                    traj_stats_group = None
+
+                try:
+                    stats_dict_dict = calculate_traj_stats(f[traj_key], traj_stats_group, keys)
+                    for key, stats_dict in stats_dict_dict.items():
+                        stats_dicts[key].append(stats_dict)
+                except Exception as e:
+                    # if an error occurred, delete the stats group that errored
+                    if not args.dry_run:
+                        del stats_group[traj_key]
+                    raise ValueError(
+                        f"Error calculating stats for trajectory {traj_key} in file {data_file}: {e}"
+                    ) from e
+        except KeyboardInterrupt:
+            # if we're interrupted, delete the whole stats group to avoid partial updates
+            if not args.dry_run:
+                del f[STATS_GROUP_NAME]
+            raise
+
+    merged_stats: dict[str, StatsDict] = {}
+    for key in stats_dicts:
+        merged_stats[key] = merge_stats_dicts(stats_dicts[key])
+
+    return merged_stats
+
+
+def main():
+    args = get_args()
+    if args.keys_file is not None:
+        with open(args.keys_file, "r") as f:
+            keys = f.read().splitlines()
+    else:
+        keys = args.keys
+
+    dry_run = args.dry_run
+    if args.aggregate_only:
+        args.dry_run = True
+
+    with open(os.path.join(args.data_root, "valid_trajectory_index.json"), "r") as f:
+        traj_index = json.load(f)
+    data_file_trajs: dict[str, list[str]] = {}
+    for data_file_dict in traj_index.values():
+        for data_file_subpath, trajs in data_file_dict.items():
+            data_file_path = os.path.join(args.data_root, data_file_subpath)
+            data_file_trajs[data_file_path] = list(trajs.keys())
+
+    stats_dicts: dict[str, list[StatsDict]] = defaultdict(list)
+
+    if args.num_workers > 1:
+        # use a semaphore to limit the number of queued jobs, helps with large quantity of datafiles
+        submit_semaphore = Semaphore(args.num_workers * 4)
+        lock = Lock()
+        with ProcessPoolExecutor(max_workers=args.num_workers) as executor:
+            with tqdm(total=len(data_file_trajs), desc="Processing files...") as pbar:
+
+                def on_done(future: Future):
+                    try:
+                        future.result()
+                    except CancelledError:
+                        pass
+                    except:
+                        traceback.print_exc()
+                        executor.shutdown(wait=False, cancel_futures=True)
+
+                    with lock:
+                        pbar.update(1)
+                    submit_semaphore.release()
+
+                futures: list[Future] = []
+                for data_file, traj_keys in data_file_trajs.items():
+                    submit_semaphore.acquire()
+                    future = executor.submit(process_data_file, args, data_file, traj_keys, keys)
+                    future.add_done_callback(on_done)
+                    futures.append(future)
+
+                for future in as_completed(futures):
+                    stats = future.result()
+                    if stats is not None:
+                        for key, stats_dict in stats.items():
+                            stats_dicts[key].append(stats_dict)
+    else:
+        for data_file, traj_keys in tqdm(data_file_trajs.items()):
+            stats = process_data_file(args, data_file, traj_keys, keys)
+            if stats is not None:
+                for key, stats_dict in stats.items():
+                    stats_dicts[key].append(stats_dict)
+
+    merged_stats = {}
+    for key in stats_dicts:
+        merged_stats[key] = merge_stats_dicts(stats_dicts[key])
+
+    if args.aggregate_only or not dry_run:
+        with open(os.path.join(args.data_root, "aggregated_stats.json"), "w") as f:
+            sanitized_merged_stats = sanitize_dict(merged_stats)
+            json.dump(sanitized_merged_stats, f, indent=2)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/license_info.py b/license_info.py
new file mode 100644
index 0000000000000000000000000000000000000000..c7e5c4ddaf03604a905151b586a09d513ae476e0
--- /dev/null
+++ b/license_info.py
@@ -0,0 +1,450 @@
+import io
+import json
+import tarfile
+from contextlib import contextmanager
+import pickle
+import base64
+import re
+import gzip
+
+try:
+    import h5py
+    import requests
+    import zstandard as zstd
+    from datasets import load_dataset
+    from huggingface_hub import hf_hub_url, HfFolder
+except ImportError as e:
+    print(
+        f"Please setup your environment with e.g. `pip install h5py requests zstandard datasets huggingface_hub`"
+    )
+    raise
+
+TOKEN = HfFolder.get_token()
+REPO = "allenai/molmobot-data"
+TASK_CONFIGS = [
+    "DoorOpeningDataGenConfig",
+    "FrankaPickAndPlaceColorOmniCamConfig",
+    "FrankaPickAndPlaceNextToOmniCamConfig",
+    "FrankaPickAndPlaceOmniCamConfig",
+    "FrankaPickOmniCamConfig",
+    "RBY1OpenDataGenConfig",
+    "RBY1PickAndPlaceDataGenConfig",
+    "RBY1PickDataGenConfig",
+]
+
+
+@contextmanager
+def stream_pkg(
+    entry: dict, config_name: str, buffer_size: int = 8192, repo_id: str = REPO
+):
+    """
+    Streams a single compressed archive (tar.zst) from within a shard using
+    an HTTP Range request. Each shard contains multiple archives packed
+    contiguously; the entry's offset and size identify the byte range for
+    one archive. This context manager exposes an open tarfile.
+    """
+    url = hf_hub_url(
+        repo_id=repo_id,
+        filename=f"{config_name}/shards/{entry['shard_id']:05d}.tar",
+        repo_type="dataset",
+        revision="main",
+    )
+
+    start = entry["offset"]
+    end = start + entry["size"] - 1
+    headers = {"Range": f"bytes={start}-{end}"}
+    if TOKEN:
+        headers["Authorization"] = f"Bearer {TOKEN}"
+
+    with requests.get(url, headers=headers, stream=True) as response:
+        response.raise_for_status()
+
+        dctx = zstd.ZstdDecompressor()
+
+        with dctx.stream_reader(response.raw) as reader:
+            buffered = io.BufferedReader(reader, buffer_size=buffer_size)
+
+            with tarfile.open(fileobj=buffered, mode="r|") as tar:
+                yield tar
+
+
+def _extract_h5_buffers(entry: dict, config_name: str):
+    """
+    Streams the archive for the given entry and extracts only
+    the h5 buffers, keyed by batch id. Also returns the scene_info string.
+    """
+    scene_info = None
+    batch_to_h5 = {}
+
+    with stream_pkg(entry, config_name) as tar:
+        for member in tar:
+            if not member.name.endswith(".h5"):
+                continue
+
+            batch = member.name.split("/")[1].split(".")[0].split("_batch_")[1]
+
+            if scene_info is None:
+                scene_info = f"part{entry['part']}_{member.name.split('/')[0]}"
+
+            batch_to_h5[batch] = tar.extractfile(member).read()
+
+    return scene_info, batch_to_h5
+
+
+class Config:
+    """Generic placeholder for unpickling config classes."""
+
+    def __init__(self, *args, **kwargs):
+        self._args = args
+        self._kwargs = kwargs
+
+    def __setstate__(self, state):
+        self.__dict__ = state["__dict__"]
+
+    def __repr__(self):
+        return f"{self.__dict__}"
+
+
+class ConfigUnpickler(pickle.Unpickler):
+    """Unpickler that resolves numpy/pathlib classes normally and stubs everything else."""
+
+    def find_class(self, module, name):
+        if module.startswith(("numpy", "pathlib")):
+            import importlib
+
+            loaded = importlib.import_module(module)
+            return getattr(loaded, name)
+
+        return Config
+
+
+def safe_load_config(encoded_frozen_config):
+    """
+    Deserializes a base64-encoded pickled config, replacing unknown
+    classes with a generic Config placeholder. Returns None on failure.
+    """
+    try:
+        return ConfigUnpickler(
+            io.BytesIO(base64.b64decode(encoded_frozen_config))
+        ).load()
+    except Exception as e:
+        print(f"Warning: config pickle could not be fully loaded: {e}")
+        return None
+
+
+def iterate_episode_info(entry: dict, config_name: str):
+    """
+    Yields per-episode obs_scene metadata (config, scene_id, traj_id, etc.)
+    by streaming only the h5 data from the archive.
+    """
+    scene_info, batch_to_h5 = _extract_h5_buffers(entry, config_name)
+
+    for batch, h5_bytes in batch_to_h5.items():
+        with h5py.File(io.BytesIO(h5_bytes), "r") as f:
+            if "valid_traj_mask" in f.keys():
+                valid_traj_mask = f["valid_traj_mask"][()]
+            else:
+                traj_keys = {
+                    int(key.split("traj_")[-1])
+                    for key in f.keys()
+                    if key.startswith("traj_")
+                }
+                valid_traj_mask = [
+                    idx in traj_keys for idx in range(max(traj_keys) + 1)
+                ]
+
+            for eid, valid in enumerate(valid_traj_mask):
+                if not valid:
+                    continue
+
+                traj = f[f"traj_{eid}"]
+                obs_scene = json.loads(traj["obs_scene"][()].decode())
+                obs_scene["config"] = safe_load_config(obs_scene.pop("frozen_config"))
+                obs_scene["scene_id"] = scene_info
+                obs_scene["traj_id"] = f"{batch}_ep{eid}"
+
+                yield obs_scene
+
+
+_CACHED_IDX_TO_ENTRY = {}
+_CACHED_IDX_TO_OBJECTS = {}
+
+
+def extract_number_substring(input_str: str):
+    """Returns the first integer found in the string, or None."""
+    match = re.search(r"\d+", input_str)
+    if match:
+        return int(match.group())
+    return None
+
+
+def resolve_scene_source(scene_idx, scene_objects):
+    """
+    Finds which molmospaces scene source best matches the given scene
+    by comparing object sets. Results are cached across calls.
+    """
+    repo_id = "allenai/molmospaces"
+    scene_sources = [
+        "mujoco__scenes__procthor-objaverse-train__20251205",
+        "mujoco__scenes__ithor__20251217",
+    ]
+
+    scene_objects = set(scene_objects)
+
+    matches = []
+    best_match = 0
+    best_source = None
+
+    for source in scene_sources:
+        if source not in _CACHED_IDX_TO_ENTRY:
+            source_name = source.split("__")[-2]
+            ds = load_dataset(repo_id, name=source, split="pkgs")
+            _CACHED_IDX_TO_ENTRY[source] = {}
+            for entry in ds:
+                stem = entry["path"].split("/")[-1].replace(source_name, "")
+                if "FloorPlan" in stem or "house" in stem or "train" in stem:
+                    idx = extract_number_substring(stem)
+                    if idx is not None:
+                        _CACHED_IDX_TO_ENTRY[source][idx] = entry
+        if scene_idx not in _CACHED_IDX_TO_ENTRY[source]:
+            continue
+
+        if source not in _CACHED_IDX_TO_OBJECTS:
+            _CACHED_IDX_TO_OBJECTS[source] = {}
+        if scene_idx not in _CACHED_IDX_TO_OBJECTS[source]:
+            with stream_pkg(
+                _CACHED_IDX_TO_ENTRY[source][scene_idx],
+                source.replace("__", "/"),
+                repo_id=repo_id,
+            ) as tar:
+                for member in tar:
+                    if "metadata" in member.name:
+                        meta_encoded = tar.extractfile(member).read()
+                        meta = json.loads(meta_encoded.decode("utf-8"))
+                        if "objects" in meta:
+                            _CACHED_IDX_TO_OBJECTS[source][scene_idx] = meta["objects"]
+                        break
+
+        cur_objects = set(_CACHED_IDX_TO_OBJECTS[source][scene_idx].keys())
+        matches.append(len(scene_objects & cur_objects) / len(scene_objects))
+        if matches[-1] > best_match:
+            best_match = matches[-1]
+            best_source = source
+            if best_match == 1.0:
+                return best_source
+
+    return best_source
+
+
+_OBJECT_METADATA = None
+
+
+DEFAULT_LICENSE = {
+    "license": "CC-BY-4.0",
+    "license_url": "https://creativecommons.org/licenses/by/4.0/",
+    "creator_name": "Allen Institute for AI (Ai2)",
+}
+
+ATTRIBUTION_TEMPLATE = (
+    "{assets}" + f" by the {DEFAULT_LICENSE['creator_name']},"
+    f" licensed under {DEFAULT_LICENSE['license'].replace('-', ' ')}."
+)
+
+
+def resolve_object_license(anno):
+    """Builds a license dict for a single object from its annotation."""
+    if anno["isObjaverse"]:
+        lic = anno["license_info"]
+
+        assert (
+            "sketchfab" in lic["creator_profile_url"]
+        ), f"Only sketchfab assets expected, got {lic['creator_profile_url']}"
+
+        cur_license = {
+            "asset_id": anno["assetId"],
+            "source": "Sketchfab",
+            "modifications": "The model has been significantly modified to reduce memory and processing requirements,"
+            " including mesh decimation, convex collider extraction, and baking of visual effects via Blender scripts."
+            " The provided quality may not reflect the original model.",
+        }
+
+        if lic["license"] == "by":
+            cur_license["attribution"] = (
+                f"Model by {lic['creator_display_name']} ({lic['creator_username']}), licensed under CC BY 4.0."
+            )
+        elif lic["license"] == "by-sa":
+            cur_license["attribution"] = (
+                f"Model by {lic['creator_display_name']} ({lic['creator_username']}), licensed under CC BY-SA 4.0."
+            )
+        elif lic["license"] == "cc0":
+            cur_license["attribution"] = (
+                f"Model by {lic['creator_display_name']} ({lic['creator_username']}), licensed under CC0-1.0."
+            )
+        elif lic["license"] == "by-nc":
+            cur_license["commercial_use"] = False
+            cur_license["attribution"] = (
+                f"Model by {lic['creator_display_name']} ({lic['creator_username']}), licensed under CC BY-NC 4.0."
+                f" Non-commercial use only."
+            )
+        elif lic["license"] == "by-nc-sa":
+            cur_license["commercial_use"] = False
+            cur_license["attribution"] = (
+                f"Model by {lic['creator_display_name']} ({lic['creator_username']}), licensed under CC BY-NC-SA"
+                f" 4.0. Non-commercial use only."
+            )
+        else:
+            raise NotImplementedError(f"Got unsupported license {lic['license']}")
+
+    else:
+        cur_license = {
+            "asset_id_or_archive_name": anno["assetId"],
+            "source": "In-house (Ai2)",
+            "attribution": ATTRIBUTION_TEMPLATE.format(assets="Model(s)"),
+        }
+
+    return cur_license
+
+
+def make_episode_id(config, batch_info, episode_info):
+    """Constructs a unique episode identifier."""
+    return f"{config}__batch_{episode_info}__{batch_info}"
+
+
+def resolve_episode_licenses(episode_id, scene_source, scene_idx, added_objects):
+    """
+    Builds a full license dict for an episode, combining the scene-level
+    license with per-object licenses from the object metadata catalog.
+    """
+    repo_id = "allenai/molmospaces"
+    meta_source = "mujoco__objects__objathor_metadata__20260129"
+
+    global _OBJECT_METADATA
+    if _OBJECT_METADATA is None:
+        ds = load_dataset(repo_id, name=meta_source, split="pkgs")
+        with stream_pkg(
+            ds[0],
+            meta_source.replace("__", "/"),
+            repo_id=repo_id,
+        ) as tar:
+            for member in tar:
+                if member.name.endswith(".json.gz"):
+                    meta_bytes = tar.extractfile(member).read()
+                    with gzip.open(io.BytesIO(meta_bytes), "rt") as f:
+                        _OBJECT_METADATA = json.load(f)
+                    break
+
+    scene_objects = _CACHED_IDX_TO_OBJECTS[scene_source][scene_idx]
+    includes = []
+    for obj_name, obj_info in scene_objects.items():
+        asset_id = obj_info["asset_id"]
+        if asset_id not in _OBJECT_METADATA:
+            continue
+        meta = _OBJECT_METADATA[asset_id]
+        obj_lic = resolve_object_license(meta)
+        obj_lic["id_in_scene"] = obj_name
+        includes.append(obj_lic)
+
+    for obj_name, path in added_objects.items():
+        asset_id = path.name.rsplit(".", 1)[0]
+        meta = _OBJECT_METADATA[asset_id]
+        obj_lic = resolve_object_license(meta)
+        obj_lic["id_in_scene"] = obj_name
+        includes.append(obj_lic)
+
+    scene_license = {
+        "episode_id": episode_id,
+        **DEFAULT_LICENSE,
+        "attribution": ATTRIBUTION_TEMPLATE.format(assets="Scene"),
+        "scope": "Scene composition, layout, non-object-specific textures, and metadata.",
+        "relationship_to_assets": "collection",
+        "asset_licenses": "Assets are independently licensed; see assets info below for details.",
+        "license_determination": "Scenes are collections referencing independently licensed assets;"
+        f" {DEFAULT_LICENSE['license']} applies only to scene composition, layout, and metadata.",
+    }
+    if includes:
+        scene_license["assets"] = includes
+    return scene_license
+
+
+def list_configs():
+    """Print every config name in the dataset together with its entry count."""
+    for config in TASK_CONFIGS:
+        ds = load_dataset(REPO, name=config, split="pkgs")
+        print(f"{config}: {len(ds)} entries")
+    print("\nUse --config CONFIG --index INDEX to show licenses for a specific entry.")
+
+
+def licenses_for_entry(config_name: str, index: int):
+    """
+    Print license information for every episode contained in the
+    dataset entry at the given index within the given config.
+    """
+    ds = load_dataset(REPO, name=config_name, split="pkgs")
+    if index < 0 or index >= len(ds):
+        raise IndexError(
+            f"Index {index} out of range for config '{config_name}' "
+            f"(has {len(ds)} entries, valid range 0..{len(ds) - 1})"
+        )
+    entry = ds[index]
+
+    print(f"Config: {config_name}")
+    print(f"Entry index: {index}")
+    print(f"Path: {entry['path']}")
+    print(
+        f"Shard: {entry['shard_id']}, offset: {entry['offset']}, size: {entry['size']}"
+    )
+    print()
+
+    episode_count = 0
+    for obs_scene in iterate_episode_info(entry, config_name):
+        scene_id = obs_scene["scene_id"]
+        scene_idx = extract_number_substring(scene_id.split("_part")[0])
+        traj_id = obs_scene["traj_id"]
+        added_objects = obs_scene["config"].task_config.added_objects
+        scene_objects = sorted(
+            set(obs_scene["config"].task_config.object_poses.keys())
+            - set(added_objects.keys())
+        )
+
+        scene_source = resolve_scene_source(scene_idx, scene_objects)
+        episode_id = make_episode_id(config_name, scene_id, traj_id)
+        license_info = resolve_episode_licenses(
+            episode_id, scene_source, scene_idx, added_objects
+        )
+
+        print(f"{json.dumps(license_info, indent=2)}\n")
+        episode_count += 1
+
+    print(f"Total episodes in entry: {episode_count}")
+
+
+def main():
+    import argparse
+
+    parser = argparse.ArgumentParser(
+        description="License information for allenai/molmobot-data episodes."
+        " With no arguments, lists all configs and their entry counts."
+    )
+    parser.add_argument(
+        "--config",
+        choices=TASK_CONFIGS,
+        help="Config name (task configuration).",
+    )
+    parser.add_argument(
+        "--index",
+        type=int,
+        help="Dataset entry index within the config.",
+    )
+
+    args = parser.parse_args()
+
+    if args.config is not None and args.index is not None:
+        licenses_for_entry(args.config, args.index)
+    elif args.config is not None or args.index is not None:
+        parser.error("Both --config and --index are required together.")
+    else:
+        list_configs()
+
+
+if __name__ == "__main__":
+    main()
diff --git a/stream_access_example.py b/stream_access_example.py
new file mode 100644
index 0000000000000000000000000000000000000000..6ccb7ccc624e6ef18281ee7255989872375c64b3
--- /dev/null
+++ b/stream_access_example.py
@@ -0,0 +1,303 @@
+import io
+import json
+import random
+import tarfile
+from contextlib import contextmanager
+import tempfile
+import pickle
+import base64
+
+try:
+    import h5py
+    import imageio
+    import requests
+    import zstandard as zstd
+    from datasets import load_dataset
+    from huggingface_hub import hf_hub_url, HfFolder
+except ImportError:
+    print(
+        "Please setup your environment with e.g."
+        " `pip install h5py 'imageio[ffmpeg]' requests zstandard datasets huggingface_hub`"
+    )
+    raise
+
+TOKEN = HfFolder.get_token()
+REPO = "allenai/molmobot-data"
+TASK_CONFIGS = [
+    "DoorOpeningDataGenConfig",
+    "FrankaPickAndPlaceColorOmniCamConfig",
+    "FrankaPickAndPlaceNextToOmniCamConfig",
+    "FrankaPickAndPlaceOmniCamConfig",
+    "FrankaPickOmniCamConfig",
+    "RBY1OpenDataGenConfig",
+    "RBY1PickAndPlaceDataGenConfig",
+    "RBY1PickDataGenConfig",
+]
+
+
+@contextmanager
+def stream_pkg(
+    entry: dict, config_name: str, buffer_size: int = 8192, repo_id: str = REPO
+):
+    """
+    Streams a single compressed archive (tar.zst) from within a shard using
+    an HTTP Range request. Each shard contains multiple archives packed
+    contiguously; the entry's offset and size identify the byte range for
+    one archive. This context manager exposes an open tarfile.
+    """
+    url = hf_hub_url(
+        repo_id=repo_id,
+        filename=f"{config_name}/shards/{entry['shard_id']:05d}.tar",
+        repo_type="dataset",
+        revision="main",
+    )
+
+    start = entry["offset"]
+    end = start + entry["size"] - 1
+    headers = {"Range": f"bytes={start}-{end}"}
+    if TOKEN:
+        headers["Authorization"] = f"Bearer {TOKEN}"
+
+    with requests.get(url, headers=headers, stream=True) as response:
+        response.raise_for_status()
+
+        dctx = zstd.ZstdDecompressor()
+
+        with dctx.stream_reader(response.raw) as reader:
+            buffered = io.BufferedReader(reader, buffer_size=buffer_size)
+
+            with tarfile.open(fileobj=buffered, mode="r|") as tar:
+                yield tar
+
+
+def collect_scene_data(entry: dict, config_name: str, keep_videos=True):
+    """Collects scene identification info, and h5 and mp4 buffers from the archive."""
+
+    def keep_scene_info(name):
+        return f'part{entry["part"]}_{name.split("/")[0]}'
+
+    def mp4_info(name):
+        info = name.split("/")[1].split(".")[0]
+        traj_cam_info, batch_info = info.split("_batch_")
+        traj_cam_info = traj_cam_info.split("_")
+        traj_idx = int(traj_cam_info[1])
+        cam = "_".join(traj_cam_info[2:])
+        return batch_info, traj_idx, cam
+
+    def h5_info(name):
+        info = name.split("/")[1].split(".")[0]
+        batch_info = info.split("_batch_")[1]
+        return batch_info
+
+    scene_info = None
+    batch_to_h5_and_ep_to_cams = {}
+    with stream_pkg(entry, config_name) as tar:
+        for member in tar:
+            if member.name.endswith(".h5"):
+                batch = h5_info(member.name)
+
+                if scene_info is None:
+                    scene_info = keep_scene_info(member.name)
+
+                if batch not in batch_to_h5_and_ep_to_cams:
+                    batch_to_h5_and_ep_to_cams[batch] = {}
+
+                batch_to_h5_and_ep_to_cams[batch]["h5"] = tar.extractfile(member).read()
+
+            elif member.name.endswith(".mp4") and keep_videos:
+                batch, ep, cam = mp4_info(member.name)
+
+                if batch not in batch_to_h5_and_ep_to_cams:
+                    batch_to_h5_and_ep_to_cams[batch] = {}
+                if ep not in batch_to_h5_and_ep_to_cams[batch]:
+                    batch_to_h5_and_ep_to_cams[batch][ep] = {}
+
+                batch_to_h5_and_ep_to_cams[batch][ep][cam] = tar.extractfile(
+                    member
+                ).read()
+
+    return scene_info, batch_to_h5_and_ep_to_cams
+
+
+def pop_frames(h5_and_ep_to_cams, eid):
+    """Pops video buffers for an episode and decodes them into numpy frame arrays."""
+
+    frames = {}
+    for cam in list(h5_and_ep_to_cams[eid].keys()):
+        vid_data = h5_and_ep_to_cams[eid].pop(cam)
+        # imageio ffmpeg reader needs
+        with tempfile.NamedTemporaryFile(suffix=".mp4") as tmp:
+            tmp.write(vid_data)
+            # ensure data is written to disk
+            tmp.flush()
+            tmp.seek(0)
+            with imageio.get_reader(tmp.name, format="ffmpeg") as vid:
+                frames[cam] = [frame for frame in vid]
+
+    return frames
+
+
+def decode_datum(datum):
+    """Decodes a null-padded JSON bytes array into a Python object."""
+    return json.loads(datum.tobytes().decode("utf-8").rstrip("\x00"))
+
+
+class Config:
+    """Generic placeholder for unpickling config classes."""
+
+    def __init__(self, *args, **kwargs):
+        self._args = args
+        self._kwargs = kwargs
+
+    def __setstate__(self, state):
+        self.__dict__ = state["__dict__"]
+
+    def __repr__(self):
+        return f"{self.__dict__}"
+
+
+class ConfigUnpickler(pickle.Unpickler):
+    """Unpickler that resolves numpy/pathlib classes normally and stubs everything else."""
+
+    def find_class(self, module, name):
+        if module.startswith(("numpy", "pathlib")):
+            import importlib
+
+            loaded = importlib.import_module(module)
+            return getattr(loaded, name)
+
+        return Config
+
+
+def safe_load_config(encoded_frozen_config):
+    """
+    Deserializes a base64-encoded pickled config, replacing unknown
+    classes with a generic Config placeholder. Returns None on failure.
+    """
+    try:
+        return ConfigUnpickler(
+            io.BytesIO(base64.b64decode(encoded_frozen_config))
+        ).load()
+    except Exception as e:
+        print(f"Warning: config pickle could not be fully loaded: {e}")
+        return None
+
+
+def iterate_data(entry: dict, config_name: str):
+    """
+    Yields per-step dicts (traj_info, step, action, camera frames)
+    for all valid episodes in the given scene package.
+    """
+    scene_info, batch_to_h5_and_ep_to_cams = collect_scene_data(entry, config_name)
+
+    for batch in list(batch_to_h5_and_ep_to_cams.keys()):
+        h5_and_ep_to_cams = batch_to_h5_and_ep_to_cams.pop(batch)
+        if "h5" not in h5_and_ep_to_cams:
+            # Incomplete data, skip
+            continue
+
+        h5 = h5_and_ep_to_cams["h5"]
+
+        with h5py.File(io.BytesIO(h5), "r") as f:
+            if "valid_traj_mask" in f.keys():
+                valid_traj_mask = f["valid_traj_mask"][()]
+            else:
+                traj_keys = {
+                    int(key.split("traj_")[-1])
+                    for key in f.keys()
+                    if key.startswith("traj_")
+                }
+                valid_traj_mask = [
+                    True if idx in traj_keys else False
+                    for idx in range(max(traj_keys) + 1)
+                ]
+
+            for eid, val in enumerate(valid_traj_mask):
+                if not val:
+                    # Skip non-valid trajectories
+                    continue
+
+                traj = f[f"traj_{eid}"]
+
+                obs_scene = json.loads(traj["obs_scene"][()].decode())
+                obs_scene["config"] = safe_load_config(obs_scene.pop("frozen_config"))
+                obs_scene["scene_id"] = scene_info
+                obs_scene["traj_id"] = f"{batch}_ep{eid}"
+
+                actions = [
+                    decode_datum(action)
+                    for action in traj["actions"]["commanded_action"][()]
+                ]
+
+                frames = pop_frames(h5_and_ep_to_cams, eid)
+
+                for fid, action in enumerate(actions):
+                    yield {
+                        "traj_info": obs_scene,
+                        "step": fid,
+                        "action": action,
+                        **{cam: frames[cam][fid] for cam in frames},
+                    }
+
+
+def main():
+    grand_size = 0
+    grand_inflated = 0
+    grand_largest = 0
+    grand_parts = 0
+
+    for config in TASK_CONFIGS:
+        ds = load_dataset(REPO, name=config, split="pkgs")
+
+        current_size = sum(row["size"] for row in ds)
+        current_inflated = sum(row["inflated_size"] for row in ds)
+        current_largest = max(row["inflated_size"] for row in ds)
+        current_parts = len(set(row["part"] for row in ds))
+
+        print(f"Task config {config}:")
+        print(f"  Compressed:       {current_size / 1024 ** 3:.2f} GiB")
+        print(f"  Inflated:         {current_inflated / 1024 ** 3:.2f} GiB")
+        print(f"  Largest archive:  {current_largest / 1024 ** 3:.2f} GiB")
+        print(f"  Collection parts: {current_parts}")
+
+        grand_size += current_size
+        grand_inflated += current_inflated
+        grand_largest = max(current_largest, grand_largest)
+        grand_parts += current_parts
+
+        parts = [[] for _ in range(current_parts)]
+        for entry in ds:
+            parts[entry["part"]].append(entry)
+        for part in parts:
+            random_scene_pkg = random.choice(part)
+            for it, item in enumerate(iterate_data(random_scene_pkg, config)):
+                if it == 1:
+                    info = item.pop("traj_info")
+                    scene_id = info["scene_id"]
+                    traj_id = info["traj_id"]
+                    task_type = info["task_type"]
+                    task_description = info["task_description"]
+                    robot_name = info["config"].robot_config.name
+                    step = item.pop("step")
+                    action_keys = sorted(item.pop("action").keys())
+                    cam_shapes = {cam: frame.shape for cam, frame in item.items()}
+                    print(
+                        f"{step=} {traj_id=} {scene_id=}"
+                        f"\n  {task_type=}"
+                        f"\n  {task_description=}"
+                        f"\n  {robot_name=}"
+                        f"\n  {action_keys=}"
+                        f"\n  {cam_shapes=}"
+                    )
+                    break
+
+    print(f"TOTAL across {len(TASK_CONFIGS)} task configs:")
+    print(f"  Compressed:       {grand_size / 1024 ** 4:.2f} TiB")
+    print(f"  Inflated:         {grand_inflated / 1024 ** 4:.2f} TiB")
+    print(f"  Largest archive:  {grand_largest / 1024 ** 3:.2f} GiB")
+    print(f"  Collection parts: {grand_parts}")
+
+
+if __name__ == "__main__":
+    main()
+    print("DONE")
diff --git a/validate_trajectories.py b/validate_trajectories.py
new file mode 100644
index 0000000000000000000000000000000000000000..7565a023a76bbf59a55de02a24504cba4281f53f
--- /dev/null
+++ b/validate_trajectories.py
@@ -0,0 +1,391 @@
+import argparse
+from concurrent.futures import CancelledError, ProcessPoolExecutor, Future, as_completed
+from threading import Semaphore, Lock
+from pathlib import Path
+import json
+import glob
+import os
+import traceback
+
+import numpy as np
+import h5py
+from tqdm import tqdm
+import decord
+from decord.ndarray import DECORDContext
+
+
+VALID_TRAJECTORY_KEY = "valid_traj_mask"
+
+
+def get_args():
+    parser = argparse.ArgumentParser(
+        description="Find and mark invalid trajectories in data files to be skipped in further processing and training."
+    )
+    parser.add_argument("data_root")
+    parser.add_argument("--num-workers", type=int, default=32)
+    parser.add_argument(
+        "--no-overwrite",
+        action="store_false",
+        dest="overwrite",
+        help="Do not overwrite existing valid trajectory mask in data files (skip instead)",
+    )
+    parser.add_argument(
+        "--dry-run",
+        action="store_true",
+        help="Find valid trajectories but do not write to data files or build the trajectory index",
+    )
+    parser.add_argument(
+        "--index-only",
+        action="store_true",
+        help="Only build the index of valid trajectories, do not write to data files",
+    )
+
+    parser.add_argument(
+        "--check-visibility",
+        nargs=2,
+        metavar=("camera", "object"),
+        action="append",
+        help="Check that a given camera can see a given object in the first frame. Can be specified multiple times.",
+    )
+    parser.add_argument("--no-video", action="store_true", help="Do not validate video data")
+    parser.add_argument(
+        "--frames-to-check",
+        type=int,
+        default=3,
+        help="Number of frames to check for each video, ignored if not checking videos",
+    )
+    parser.add_argument(
+        "--min-steps",
+        type=int,
+        default=3,
+        help="Minimum number of steps in a trajectory to be considered valid (including dummy and done steps)",
+    )
+    return parser.parse_args()
+
+
+def is_traj_valid(
+    args, data_file_path: Path, traj_idx: int, traj_group: h5py.Group, decord_ctx: DECORDContext
+) -> bool:
+    if "actions" not in traj_group:
+        print(f"Trajectory {traj_idx} in {data_file_path} does not have an actions group")
+        return False
+    actions_group = traj_group["actions"]
+    if len(actions_group.keys()) == 0:
+        print(f"Trajectory {traj_idx} in {data_file_path} does not have any actions")
+        return False
+    n_actions = None
+    for action_key in actions_group.keys():
+        actions = actions_group[action_key]
+        if n_actions is None:
+            n_actions = actions.shape[0]
+        else:
+            if n_actions != actions.shape[0]:
+                print(
+                    f"Trajectory {traj_idx} in {data_file_path} has different numbers of actions for {action_key}"
+                )
+                return False
+        if n_actions < args.min_steps:
+            print(
+                f"Trajectory {traj_idx} in {data_file_path} has {n_actions} steps, which is <{args.min_steps}"
+            )
+            return False
+        for i in range(n_actions):
+            try:
+                json.loads(actions[i].tobytes().decode("utf-8").rstrip("\x00"))
+            except json.JSONDecodeError:
+                print(
+                    f"Error decoding action {action_key} step {i} in {data_file_path} for trajectory {traj_idx}"
+                )
+                return False
+
+    if "obs/agent" not in traj_group:
+        print(f"Trajectory {traj_idx} in {data_file_path} does not have an agent group")
+        return False
+    agent_group = traj_group["obs/agent"]
+    if "qpos" not in agent_group or "qvel" not in agent_group:
+        print(f"Trajectory {traj_idx} in {data_file_path} does not have a qpos or qvel group")
+        return False
+    for obs_key in agent_group.keys():
+        obs = agent_group[obs_key]
+        if obs.shape[0] != n_actions:
+            print(
+                f"Trajectory {traj_idx} in {data_file_path} has {obs.shape[0]} steps for {obs_key}, but {n_actions} steps for actions"
+            )
+            return False
+        for i in range(obs.shape[0]):
+            try:
+                json.loads(obs[i].tobytes().decode("utf-8").rstrip("\x00"))
+            except json.JSONDecodeError:
+                print(f"Error decoding {obs_key} {i} in {data_file_path} for trajectory {traj_idx}")
+                return False
+
+    if "obs/extra/object_image_points" in traj_group:
+        if args.check_visibility:
+            obj_points_group = traj_group["obs/extra/object_image_points"]
+
+            # Handle new nested HDF5 group format vs old JSON byte-string format
+            if isinstance(obj_points_group, h5py.Group):
+                # New format: nested groups with points/num_points arrays
+                for cam_name, obj_name in args.check_visibility:
+                    if obj_name not in obj_points_group:
+                        print(
+                            f"Trajectory {traj_idx} in {data_file_path} does not record visibility for object {obj_name}"
+                        )
+                        return False
+                    obj_group = obj_points_group[obj_name]
+                    if cam_name not in obj_group:
+                        print(
+                            f"Trajectory {traj_idx} in {data_file_path} does not record visibility for object {obj_name} from camera {cam_name}"
+                        )
+                        return False
+                    # Check num_points at first frame (index 0)
+                    num_points = obj_group[cam_name]["num_points"][0, 0]
+                    if num_points == 0:
+                        # this failure case is so common that we don't need to print a warning
+                        return False
+            else:
+                # Old format: JSON byte-string array
+                image_points_str = (
+                    obj_points_group[0][:]
+                    .tobytes()
+                    .decode("utf-8")
+                    .rstrip("\x00")
+                )
+                try:
+                    image_points: dict[str, dict[str, list[list[float]]]] = json.loads(image_points_str)
+                except json.JSONDecodeError:
+                    print(
+                        f"Error decoding object_image_points in {data_file_path} for trajectory {traj_idx}"
+                    )
+                    return False
+                for cam_name, obj_name in args.check_visibility:
+                    if obj_name not in image_points:
+                        print(
+                            f"Trajectory {traj_idx} in {data_file_path} does not record visibility for object {obj_name}"
+                        )
+                        return False
+                    if cam_name not in image_points[obj_name]:
+                        print(
+                            f"Trajectory {traj_idx} in {data_file_path} does not record visibility for object {obj_name} from camera {cam_name}"
+                        )
+                        return False
+                    if len(image_points[obj_name][cam_name]) == 0:
+                        # this failure case is so common that we don't need to print a warning
+                        return False
+    elif args.check_visibility:
+        print(
+            f"WARN: Trajectory {traj_idx} in {data_file_path} does not have a object_image_points group, skipping visibility check."
+        )
+
+    if not args.no_video:
+        if "obs/sensor_data" not in traj_group:
+            print(f"Trajectory {traj_idx} in {data_file_path} does not have a sensor data group")
+            return False
+        sensor_data_group = traj_group["obs/sensor_data"]
+        if len(sensor_data_group.keys()) == 0:
+            print(f"Trajectory {traj_idx} in {data_file_path} does not have any cameras")
+            return False
+        for camera_name in sensor_data_group.keys():
+            video_filename: str = (
+                sensor_data_group[camera_name][:].tobytes().decode("utf-8").rstrip("\x00")
+            )
+            video_path = data_file_path.parent / video_filename
+            if not video_path.is_file():
+                print(
+                    f"Video file {video_filename} does not exist for trajectory {traj_idx} in {data_file_path}"
+                )
+                return False
+            try:
+                vr = decord.VideoReader(str(video_path), ctx=decord_ctx)
+                n_frames = len(vr)
+                traj_len = traj_group["obs/agent/qpos"].shape[0]
+                if n_frames != traj_len:
+                    print(
+                        f"{video_filename} has {n_frames=} but trajectory has {traj_len=} for {traj_idx=} in {data_file_path}"
+                    )
+                    return False
+                frame_idxs = np.round(np.linspace(0, n_frames - 1, args.frames_to_check)).astype(
+                    int
+                )
+                vr.get_batch(frame_idxs)
+            except (decord.DECORDError, RuntimeError) as e:
+                print(
+                    f"Error reading video file {video_filename} for trajectory {traj_idx} in {data_file_path}: {e}"
+                )
+                return False
+    return True
+
+
+def process_data_file(args, data_file_path: Path) -> tuple[int, int]:
+    try:
+        with h5py.File(data_file_path, "r" if args.dry_run else "r+") as f:
+            if VALID_TRAJECTORY_KEY in f:
+                if not args.overwrite:
+                    valid_traj_mask = f[VALID_TRAJECTORY_KEY][:]
+                    return np.sum(~valid_traj_mask).item(), len(valid_traj_mask)
+                if not args.dry_run:
+                    del f[VALID_TRAJECTORY_KEY]
+
+            traj_idxs = sorted([int(k.split("_")[-1]) for k in f.keys() if k.startswith("traj_")])
+            valid_traj_mask = np.zeros(len(traj_idxs), dtype=bool)
+            # ensure trajectory indices are consecutive
+            if traj_idxs != list(range(len(traj_idxs))):
+                print(f"Trajectory indices are not consecutive in {data_file_path}")
+            else:
+                decord_ctx = decord.cpu() if not args.no_video else None
+                for i, traj_idx in enumerate(traj_idxs):
+                    valid_traj_mask[i] = is_traj_valid(
+                        args, data_file_path, traj_idx, f[f"traj_{traj_idx}"], decord_ctx
+                    )
+
+            if not args.dry_run:
+                try:
+                    f.create_dataset(VALID_TRAJECTORY_KEY, data=valid_traj_mask)
+                except:
+                    if VALID_TRAJECTORY_KEY in f:
+                        del f[VALID_TRAJECTORY_KEY]
+                    raise
+    except OSError:
+        return 0, 0
+    except Exception as e:
+        raise RuntimeError(f"Error processing data file {data_file_path}: {e}") from e
+    return np.sum(~valid_traj_mask).item(), len(valid_traj_mask)
+
+
+def find_valid_trajectories(args, data_files: list[str]):
+    total_n_invalid = 0
+    total_n_trajs = 0
+    if args.num_workers > 1:
+        # use a semaphore to limit the number of queued jobs, helps with large quantity of datafiles
+        submit_semaphore = Semaphore(args.num_workers * 4)
+        lock = Lock()
+        with ProcessPoolExecutor(max_workers=args.num_workers) as executor:
+            with tqdm(total=len(data_files), desc="Processing files...") as pbar:
+
+                def on_done(future: Future[tuple[int, int]]):
+                    try:
+                        n_invalid, n_total = future.result()
+                    except CancelledError:
+                        pass
+                    except:
+                        traceback.print_exc()
+                        executor.shutdown(wait=False, cancel_futures=True)
+                        return
+
+                    with lock:
+                        nonlocal total_n_invalid, total_n_trajs
+                        total_n_invalid += n_invalid
+                        total_n_trajs += n_total
+                        pbar.set_postfix(
+                            n_invalid=total_n_invalid,
+                            n_total=total_n_trajs,
+                            invalid_frac=total_n_invalid / total_n_trajs
+                            if total_n_trajs > 0
+                            else 0,
+                        )
+                        pbar.update(1)
+                    submit_semaphore.release()
+
+                futures: list[Future] = []
+                for data_file in data_files:
+                    submit_semaphore.acquire()
+                    future = executor.submit(process_data_file, args, Path(data_file))
+                    future.add_done_callback(on_done)
+                    futures.append(future)
+
+                for future in as_completed(futures):
+                    future.result()
+    else:
+        for data_file in (pbar := tqdm(data_files)):
+            n_invalid, n_total = process_data_file(args, data_file)
+            total_n_invalid += n_invalid
+            total_n_trajs += n_total
+            pbar.set_postfix(
+                n_invalid=total_n_invalid,
+                n_total=total_n_trajs,
+                invalid_frac=total_n_invalid / total_n_trajs,
+            )
+    print(f"Found {total_n_invalid} invalid trajectories out of {total_n_trajs} total trajectories")
+    print(f"Invalid fraction: {total_n_invalid / total_n_trajs:.1%}")
+
+
+def read_valid_trajectories(data_file: Path) -> tuple[Path, dict[str, int]]:
+    try:
+        with h5py.File(data_file, "r") as f:
+            if VALID_TRAJECTORY_KEY in f:
+                valid_trajs = f[VALID_TRAJECTORY_KEY][:].nonzero()[0].tolist()
+                valid_traj_keys = [f"traj_{traj_idx}" for traj_idx in valid_trajs]
+                traj_len_dict = {
+                    traj_key: int(f[traj_key]["success"].shape[0]) for traj_key in valid_traj_keys
+                }
+            else:
+                traj_len_dict = {}
+    except OSError:
+        traj_len_dict = {}
+    return data_file, traj_len_dict
+
+
+def build_trajectory_index(args, data_files: list[str]):
+    data_root = Path(args.data_root)
+    index_path = data_root / "valid_trajectory_index.json"
+    if index_path.exists() and not args.overwrite:
+        print("Trajectory index already exists, skipping")
+        return
+
+    submit_semaphore = Semaphore(args.num_workers * 4)
+    lock = Lock()
+    # {house_name: {datafile_path: {traj_key: traj_length}}}
+    traj_index: dict[str, dict[str, dict[str, int]]] = {}
+    with ProcessPoolExecutor(max_workers=args.num_workers) as executor:
+        with tqdm(total=len(data_files), desc="Building trajectory index...") as pbar:
+
+            def on_done(future: Future):
+                try:
+                    future.result()
+                except:
+                    traceback.print_exc()
+                    executor.shutdown(wait=False)
+                    return
+
+                with lock:
+                    pbar.update(1)
+                submit_semaphore.release()
+
+            futures: list[Future] = []
+            for data_file in data_files:
+                submit_semaphore.acquire()
+                future = executor.submit(read_valid_trajectories, Path(data_file))
+                future.add_done_callback(on_done)
+                futures.append(future)
+
+            for future in as_completed(futures):
+                data_file, valid_traj_dict = future.result()
+                assert isinstance(data_file, Path)
+                if not valid_traj_dict:
+                    continue
+                house_name = data_file.parent.name
+                data_rel_path = data_file.relative_to(data_root)
+                if house_name not in traj_index:
+                    traj_index[house_name] = {}
+                traj_index[house_name][str(data_rel_path)] = valid_traj_dict
+
+    if not args.dry_run:
+        with open(index_path, "w") as f:
+            json.dump(traj_index, f, indent=2)
+
+
+def main():
+    args = get_args()
+
+    print("Finding data files...")
+    data_files = glob.glob(os.path.join(args.data_root, "**", "traj*.h5"), recursive=True)
+    print(f"Found {len(data_files)} data files")
+
+    if not args.index_only:
+        find_valid_trajectories(args, data_files)
+
+    build_trajectory_index(args, data_files)
+
+
+if __name__ == "__main__":
+    main()