Apache 2.0
The publisher's licence permits commercial use and redistribution, with attribution. Card states: Released under the Apache License 2.0. See LICENSE. The contact-information gate is a click-through, not a licence term.
The host asks you to sign in to Hugging Face and accept the publisher's terms before it serves files.
hf download XDOF/ABC-130k --repo-type dataset --local-dir ./ABC-130kAccept the contact-information gate on the Hub page and sign in with the Hugging Face CLI first. 22.6 TB on xet storage; pull episodes selectively with --include.
Specification, as published
- Hours (stated)
- 3,591 h
- Episodes (stated)
- 130,703 episodes
- Scale
- 130,703 episodes, 42,980 with subtask annotations
- Task
- Pick & place, Sorting & packing, Other
- Environment
- Indoor – lab
- Modality
- RGB, Proprioception, Actions, Language, Camera calibration
- Capture
- CCTV Scene
- In frame
- Robot hands
- Captured in
- North America
- Embodiment
- Bimanual YAM 6-DoF arms with parallel-jaw grippers
- Resolution
- 640x480 or 1920x1200 by camera
- Formats
- MCAP
- Size
- 22.6 TB
- Hosted on
- Hugging Face
Figures are the publisher's own. Kinetic Blocks has not measured this dataset.
About this dataset
ABC-130k is the dataset behind Scalable Behavior Cloning with Open Data, Training, and Evaluation. It records a bimanual station with two 6-DoF YAM arms and parallel-jaw grippers under human teleoperation, filmed by a top camera and two wrist cameras (RealSense 640x480 or ZED-X 1920x1200). Each episode ships as an MCAP file with video streams (H.264 or H.265), per-arm joint state and actions, end-effector pose, gripper aperture, camera calibration and a task instruction; 42,980 episodes also carry subtask labels, and a MuJoCo station model is included. The publisher states 3,590.7 hours across 130,703 episodes in train and validation splits. Access is a click-through contact-information gate on the Hub.
Publisher's own task names: bimanual tabletop manipulation, task list in meta/tasks.json.
What Kinetic Blocks did, and did not do
Indexed and linked from the publisher. Not hosted, verified or graded by Kinetic Blocks. The publisher's terms govern. The licence shown is the one stated on the publisher's page, linked above. Nothing on this page is a claim by Kinetic Blocks.
Want the verified ones too?
Request access to the marketplace, where every paid listing is verified against its files and graded before it goes on sale.