ABC-130K
Description
The ABC-130K paper reports 134,806 real teleoperated episodes totaling 3,553 hours across 195 tasks, while the current official data card lists 130,703 YAM trajectories totaling 3,590.7 hours. Collected on inexpensive dual-arm YAM stations, the data spans pick-and-place, folding, handover, insertion, sorting, tool use, and assembly, including dexterous behaviors such as box folding and extracting cards from wallets. Episodes provide three-camera video, joint and gripper signals, end-effector poses, task instructions, and subtask labels for a 1,552-hour subset, supporting scalable behavior-cloning research.
License
Apache-2.0.*
* Double-check the publisher's current license and usage terms before using this dataset.