ABC-130k: The Largest Open Bimanual Robot Teleoperation Dataset

ABC-130k is a multimodal dataset of bimanual robot teleoperation episodes. It contains 134,806 episodes across 195 tasks, representing 3,553 hours of synchronized multi-camera video and robot telemetry. The dataset was created by Voxel51 and is hosted on Hugging Face.

Use Cases

• Train imitation learning models based on synchronized video and robot telemetry.
• Develop multimodal perception models for robotic tasks based on multi-camera video streams.
• Benchmark robot manipulation policies across 195 distinct tasks.
• Analyze bimanual robot arm and end-effector coordination based on telemetry data.

Strengths

• Large scale with 134,806 recorded episodes.
• Long temporal coverage of 3,553 total hours.
• Multimodal nature with synchronized video and telemetry data.
• Covers a diverse set of 195 distinct tasks.

Limitations

• Column-level documentation is absent; field semantics must be inferred after download.
• Row count is unknown, which may limit suitability assessment.
• Description metadata is limited; actual data quality requires manual inspection after download.

Provenance

Source

Voxel51

Collection Method

Likely collected via robot teleoperation.

Freshness

Last updated 2026-07-14 21:48:53; freshness should be verified.