ABC-130k (XDOF/ABC-130k; LeRobot port lerobot/abc_130k_v3_train)

From the catalogue. Listed by one researcher from one source page.

• id: abc-130k-xdof-abc-130k-lerobot-port-lerobot-abc-130k-v3-train
• kind: teleop
• robot or device: bimanual YAM station, two 6-DoF YAM arms (robot_type yam_bimanual) (class: bimanual)
• how collected: GELLO-style passive leader arms driving the followers
• size as stated: 134,806 episodes, 195 tasks, 3,553 hours (project page); LeRobot train split 129,225 episodes, 382,468,339 frames
• hours: 3,553 | hours only claimed: none | episodes: 134,806
• year: 2026
• organisation: XDOF with UC Berkeley, MIT, Amazon FAR and CMU
• licence: Apache-2.0 (Hub tag) (class: open)
• access: XDOF original gated (auto); lerobot port open (class: gated)
• link (dataset): https://huggingface.co/datasets/lerobot/abc_130k_v3_train
• Hugging Face repository: lerobot/abc_130k_v3_train, 8,071 downloads in 30 days, https://huggingface.co/datasets/lerobot/abc_130k_v3_train
• part of: ABC-130K. Its hours are counted there, not added again to the index's total
• note: Original is MCAP; also 400 hours of sim teleop reported.
• download links of one episode: https://datasets.gurasees.com/episodes/lerobot/abc_130k_v3_train.md?episode=0

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