Training Dyna-2 at million-hour scale, repeatably — DYNA

How we rebuilt every step of our robotics data stack for million-hour scale training.

[ Research ] Training Dyna-2 at million-hour scale, repeatably Category: Research Author: Dyna Robotics Date: August 2026 Read: 22 min Robot or vendorcollectionLanding bucketobject storageTraining-ready dataMCAP episodesTraining manifestcolumnar + mmapGPU clustertraininguploadsingestioncurationloading Figure 1: Flowchart of data lifecycle From collection to training on the GPU cluster, robot data moves through four stages: collection into a landing bucket, ingestion into training-ready episodes, curation into the dataset for a given experiment, and loading into training batches.…

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• Khushi Wadhwa
• Miguel Villa Floran

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