# 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

## 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) |
|---|---|---|---|---|---|---|---|
| [XDOF/ABC-130k](https://huggingface.co/datasets/XDOF/ABC-130k) | not stated | other | other |  |  | open | 203,699 |
| [typoverflow/abc_130k_train](https://huggingface.co/datasets/typoverflow/abc_130k_train) | YAM, two arms | bimanual | recording | 129,225 | 3,541 | open | 4,284 |
| [HuggingFacer112358/abc130k-classical-optical-flow-20260922](https://huggingface.co/datasets/HuggingFacer112358/abc130k-classical-optical-flow-20260922) | not stated | other | other |  |  | open | 1,747 |
| [Dario-Shit2/ABC-130k](https://huggingface.co/datasets/Dario-Shit2/ABC-130k) | not stated | other | other |  |  | open | 1,520 |
| [lerobot/abc_130k_v3_smoke](https://huggingface.co/datasets/lerobot/abc_130k_v3_smoke) | YAM, two arms | bimanual | recording | 85 | 2.9 | open | 1,159 |
| [lerobot/abc_130k_v3_val](https://huggingface.co/datasets/lerobot/abc_130k_v3_val) | YAM, two arms | bimanual | recording | 1,592 | 46.9 | open | 741 |

Each repository links to its Hugging Face page, where the files download. Everything this index knows about one upload: https://datasets.gurasees.com/datasets/{repository}.md

Confirm the licence at the link before relying on it.