# ABC-130K

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

- id: `abc-130k`
- kind: teleop
- robot or device: bimanual setup (hardware not named in abstract) (class: bimanual)
- how collected: teleoperation
- size as stated: 3,500 hours, 130K+ episodes, 195 tasks; plus 400 hours sim teleop
- hours: 3,500 | hours only claimed: none | episodes: 130,000
- year: 2026
- organisation: ABC authors (Allshire, Singh, Singh et al.); Hub org XDOF
- licence: apache-2.0 (Hub tag) (class: open)
- access: gated on Hub (auto-approve) (class: gated)
- link (paper): https://arxiv.org/abs/2606.27375
- Hugging Face repository: `XDOF/ABC-130k`, 203,699 downloads in 30 days, https://huggingface.co/datasets/XDOF/ABC-130k
- note: Claims largest open teleop dataset to date.

## Copies and ports on the Hugging Face Hub

Uploads whose name carries this dataset's name, most downloaded first. Each has its own licence, which can differ from the original's.

| repository | robot | class | kind | episodes | hours | licence | downloads (30 d) |
|---|---|---|---|---|---|---|---|
| [lerobot/abc_130k_v3_train](https://datasets.gurasees.com/datasets/lerobot/abc_130k_v3_train.md) | YAM, two arms | bimanual | recording | 129,225 | 3,541 | open | 8,071 |
| [typoverflow/abc_130k_train](https://datasets.gurasees.com/datasets/typoverflow/abc_130k_train.md) | YAM, two arms | bimanual | recording | 129,225 | 3,541 | open | 4,284 |
| [HuggingFacer112358/abc130k-classical-optical-flow-20260922](https://datasets.gurasees.com/datasets/HuggingFacer112358/abc130k-classical-optical-flow-20260922.md) | not stated | other | other |  |  | open | 1,747 |
| [Dario-Shit2/ABC-130k](https://datasets.gurasees.com/datasets/Dario-Shit2/ABC-130k.md) | not stated | other | other |  |  | open | 1,520 |
| [lerobot/abc_130k_v3_smoke](https://datasets.gurasees.com/datasets/lerobot/abc_130k_v3_smoke.md) | YAM, two arms | bimanual | recording | 85 | 2.9 | open | 1,159 |
| [lerobot/abc_130k_v3_val](https://datasets.gurasees.com/datasets/lerobot/abc_130k_v3_val.md) | YAM, two arms | bimanual | recording | 1,592 | 46.9 | open | 741 |

Confirm the licence at the link before relying on it.