abc-130k
Datasets
All datasets matching “abc-130k”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.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
ABC-130k → FiftyOne (Native Multimodal MCAP)
Demo preview of ABC-130k subset in FiftyOne
Use FiftyOne to explore ABC-130k,
the largest open bimanual robot-teleoperation dataset (134,806 episodes / 195 tasks / 3,553 hours).
Each episode renders natively from its .mcap: synchronized multi-camera video with robot
arm/end-effector telemetry charted against the video timeline.
This dataset: Voxel51/ABC-130k — load directly with load_from_hub
Loader (FiftyOne):… See the full description on the dataset page: https://huggingface.co/datasets/Voxel51/ABC-130k.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.