abc
Datasets
All datasets matching “abc”ABC-130k
ABC-130k
ABC-130k is the largest open-source robot teleoperation dataset. It contains
bimanual manipulation trajectories collected on two-arm YAM stations. Episodes
are distributed as MCAP files, with subtask annotations kept as separate
artifacts so they can be revised or extended independently of the underlying
episode data. For details on the accompanying paper, see abc.bot.
Please see the GitHub repo here for code to
train and deploy with this dataset.
Dataset… See the full description on the dataset page: https://huggingface.co/datasets/XDOF/ABC-130k.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.calvin-task-ABC-D-lerobotABC-Pretraining-Data
ABC Pretraining Data
This dataset contains the pretraining data for ABC, an open-source multimodal embedding model that uses a vision-language model backbone to deeply integrate image features with natural language instructions, advancing the state of visual embeddings with natural language control.
This dataset is derived from Google's Conceptual Captions dataset.
Each item in the dataset contains a URL where the corresponding image can be downloaded and mined negatives for… See the full description on the dataset page: https://huggingface.co/datasets/TIGER-Lab/ABC-Pretraining-Data.calvin-task-ABCD-D-lerobotcalvin-task-ABCD-D-lerobot