datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
abc_130k_v3_trainThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_arm_joint_1",
"left_arm_joint_2",
"left_arm_joint_3",
"left_arm_joint_4",
"left_arm_joint_5"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/abc_130k_v3_train.abc130k_v3_train
ABC-130k — 256² full-frame re-conversion (train split)
Full-resolution re-conversion of the ABC-130k dual-YAM bimanual manipulation corpus
(XDOF/ABC-130k raw recordings,
Apache-2.0) in LeRobot v3.0 format.
This split: 129,032 episodes · 381,742,382 frames · 197 tasks · 30 fps.
Validation split: huzheyuan/abc130k_v3_val
(1,592 episodes / 189 tasks, task strings aligned to this split).
Why another port
The existing LeRobot port (lerobot/abc_130k_v3_train)… See the full description on the dataset page: https://huggingface.co/datasets/huzheyuan/abc130k_v3_train.abc_130k_v3_valThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_arm_joint_1",
"left_arm_joint_2",
"left_arm_joint_3",
"left_arm_joint_4",
"left_arm_joint_5"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/abc_130k_v3_val.abc_130k_trainThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.top": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height":… See the full description on the dataset page: https://huggingface.co/datasets/typoverflow/abc_130k_train.abc_130k_v3_smokeThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
14
],
"names": [
"left_arm_joint_1",
"left_arm_joint_2",
"left_arm_joint_3",
"left_arm_joint_4",
"left_arm_joint_5"… See the full description on the dataset page: https://huggingface.co/datasets/lerobot/abc_130k_v3_smoke.abc130k_v3_val
ABC-130k — 256² full-frame re-conversion (validation split)
Validation split of the full-resolution ABC-130k re-conversion. 1,592 episodes ·
5,069,390 frames · 189 tasks · 30 fps (the tasks are a subset of the 197 train
tasks; task strings match the train split exactly).
See huzheyuan/abc130k_v3_train
for the full documentation: why this port exists (full-frame 256×256 squash vs the
letterboxed 224×224 LeRobot port), feature schema and conventions, and provenance.
Source:… See the full description on the dataset page: https://huggingface.co/datasets/huzheyuan/abc130k_v3_val.ABC-130k-val
ABC-130k — validation split
Bimanual teleoperation data in LeRobot v3.0 format, robot type yam_bimanual,
recorded at 10 fps.
269 task subsets, one directory each
985 episodes in total
~58 GB
Each subset is a self-contained LeRobot dataset:
<task_name>/
data/ # parquet episode data
videos/ # per-camera mp4
meta/ # info.json, tasks.parquet, stats.json, episode_metadata.parquet, ...
README.md
Directory names encode the task and the camera resolution, e.g.… See the full description on the dataset page: https://huggingface.co/datasets/Dario-Shit0/ABC-130k-val.abc_130k_valThis dataset was created using LeRobot.
Dataset Structure
meta/info.json:
{
"codebase_version": "v3.0",
"fps": 30,
"features": {
"observation.images.top": {
"dtype": "video",
"shape": [
224,
224,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.height": 224… See the full description on the dataset page: https://huggingface.co/datasets/typoverflow/abc_130k_val.abc130k-screwdriver-mcap-lerobot-v3
ABC-130k MCAP → validated LeRobot v3 telemetry
Before → after: raw MCAP telemetry becomes a documented LeRobot v3.0 episode with preserved state/action mappings, provenance, and reader validation. Convert your MCAP free →
Community conversion produced by ViaCatalyst BYOD. This repository is not an official upstream release and is not affiliated with ABC-130k or Voxel51.
This is a provenance-complete conversion of one pinned MCAP episode from Voxel51's Apache-2.0 repackaging… See the full description on the dataset page: https://huggingface.co/datasets/ViaCatalyst/abc130k-screwdriver-mcap-lerobot-v3.