ABC-130k
ABC-130k is an open bimanual robot manipulation dataset released with the paper 'Scalable Behavior Cloning with Open Data, Training, and Evaluation'. It contains roughly 130,919 episodes (43,090 annotated) totaling about 3,598 hours collected on bimanual YAM stations with two 6-DoF arms and parallel-jaw grippers, spanning ~195 tasks such as pick-and-place, folding, sorting, handover, insertion, tool use, and assembly. Each episode includes three camera views (one top plus two wrist), joint states, end-effector poses, gripper aperture, and task/subtask annotations, plus 400 hours of accompanying sim-teleop data.
- Scale
- 3598.2 hours
- Formats
- custom
- License
- Apache-2.0
- Published
- 2026-06-25
Decision summary
teleoperation
Metadata requires review against the official source before publication.
Read the dataset manifest and feature schema.
Catalog assessment
Selection evidence
73/100
Provisional · confidence 48 · 4/6 evaluated
Access and governance
Access and license are declared by the source.
Schema and signal coverage
No machine-readable schema has been verified yet.
Policy training readiness
Observation and action/state signals are declared; alignment quality still depends on sample verification.
View 3 more dimensions
World-model readiness
Temporal observations plus geometry or semantic context are declared; sample alignment remains to be audited.
Failure and recovery readiness
No verified failure/recovery annotation evidence is available yet.
Download and processing readiness
Scale is declared; transfer and processing estimates are not measured.
Review unresolved evidence and next checks
Signal gaps
- Gaze / attention. Not enough evidence is available to classify this signal.
Next checks
- Read the dataset manifest and feature schema.
- Run a bounded sample audit before assigning Strong readiness.
Record specifics
Dataset facts
- Source
- UC Berkeley / MIT / Amazon FAR / CMU / XDOF
- Evidence
- secondary claim
- Formats
- custom
- episodes
- 130919
- hours
- 3598.2
- tasks
- 195
- bytes
- 24299023532032
Metadata coverage
Loop signals
6/7 present or partial
No decision-grade evidence captured yet.
unknownView 6 more signal categories
video · ABC-130k is an open bimanual robot manipulation dataset released with the paper 'Scalable Behavior Cloning with Open Data, Training, and Evaluation'. It contains roughly 130,919 episodes (43,090 annotated) totaling about 3,598 hours collected on bimanual YAM stations with two 6-DoF arms and parallel-jaw grippers, spanning ~195 tasks such as pick-and-place, folding, sorting, handover, insertion, tool use, and assembly. Each episode includes three camera views (one top plus two wrist), joint states, end-effector poses, gripper aperture, and task/subtask annotations, plus 400 hours of accompanying sim-teleop data.
presentee_pose · ABC-130k is an open bimanual robot manipulation dataset released with the paper 'Scalable Behavior Cloning with Open Data, Training, and Evaluation'. It contains roughly 130,919 episodes (43,090 annotated) totaling about 3,598 hours collected on bimanual YAM stations with two 6-DoF arms and parallel-jaw grippers, spanning ~195 tasks such as pick-and-place, folding, sorting, handover, insertion, tool use, and assembly. Each episode includes three camera views (one top plus two wrist), joint states, end-effector poses, gripper aperture, and task/subtask annotations, plus 400 hours of accompanying sim-teleop data.
partiallanguage · ABC-130k is an open bimanual robot manipulation dataset released with the paper 'Scalable Behavior Cloning with Open Data, Training, and Evaluation'. It contains roughly 130,919 episodes (43,090 annotated) totaling about 3,598 hours collected on bimanual YAM stations with two 6-DoF arms and parallel-jaw grippers, spanning ~195 tasks such as pick-and-place, folding, sorting, handover, insertion, tool use, and assembly. Each episode includes three camera views (one top plus two wrist), joint states, end-effector poses, gripper aperture, and task/subtask annotations, plus 400 hours of accompanying sim-teleop data.
presentABC-130k is an open bimanual robot manipulation dataset released with the paper 'Scalable Behavior Cloning with Open Data, Training, and Evaluation'. It contains roughly 130,919 episodes (43,090 annotated) totaling about 3,598 hours collected on bimanual YAM stations with two 6-DoF arms and parallel-jaw grippers, spanning ~195 tasks such as pick-and-place, folding, sorting, handover, insertion, tool use, and assembly. Each episode includes three camera views (one top plus two wrist), joint states, end-effector poses, gripper aperture, and task/subtask annotations, plus 400 hours of accompanying sim-teleop data.
presentsimulation · ABC-130k is an open bimanual robot manipulation dataset released with the paper 'Scalable Behavior Cloning with Open Data, Training, and Evaluation'. It contains roughly 130,919 episodes (43,090 annotated) totaling about 3,598 hours collected on bimanual YAM stations with two 6-DoF arms and parallel-jaw grippers, spanning ~195 tasks such as pick-and-place, folding, sorting, handover, insertion, tool use, and assembly. Each episode includes three camera views (one top plus two wrist), joint states, end-effector poses, gripper aperture, and task/subtask annotations, plus 400 hours of accompanying sim-teleop data.
presentOpen · Apache-2.0 · custom
presentEvidence details and provenance
Official signal claims
Schema and annotations
No machine-readable schema facts are captured.
Sample verification
Pending. Metadata does not prove sample coverage, alignment, or file integrity.
curated official source
Integration notes
- Metadata requires review against the official source before publication.
Catalog links