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 Statistics Attribute Value Robot Bimanual station, 2x 6-DoF YAM arms, parallel-jaw grippers Cameras Top camera + 2 wrist cameras (RealSense or ZED-X stations) Episode format MCAP (episode.mcap + optional annotation.mcap) Video codec H.264 / H.265 (per-stream; read the format field) Resolution 640x480 (RealSense) / 1920x1200 (ZED-X) yam — total hours 3,590.7 hours yam — trajectories 130,703 episodes yam — annotated share 42,980 episodes Dataset Structure xdof/ABC-130k/ ├── README.md ├── LICENSE ├── data/ │ ├── train/ # training split │ │ └── task= / │ │ ├── episode_XXXX/ │ │ │ ├── episode.mcap # trajectory: joint state, gripper, video, calibration, task name │ │ │ └── annotation.mcap # subtask labels — annotated episodes only │ │ └── ... │ └── val/ # validation split │ └── task= / │ └── ... └── meta/ ├── tasks.json # task list, trajectory counts, hours └── stats.json Each episode is a directory containing one or two MCAP files that share a single absolute time base. An episode.mcap file will always be present, and for annotated episodes there will be an additional annotation.mcap. Episode Format Full channel-level documentation lives in docs/YAM_DATA_FORMAT.md. episode.mcap carries per-arm joint state and actions (RobotState, 6 joints in radians plus a flattened 4x4 end-effector pose), gripper aperture (GripperState, 0 = closed, 1 = open), one compressed-video stream per camera, and camera calibration on sibling …-info topics. annotation.mcap carries the task name on /instruction, subtask segment labels on