ABC-130K: largest open bimanual teleop dataset with 3,500 hours, headed to CoRL 2026
pabbeel · x · 2026-09-19
- UC Berkeley, MIT, CMU and Amazon FAR released ABC, a fully open-source behavior cloning stack accepted to CoRL 2026, centered on ABC-130K — the largest bimanual teleoperation dataset to date: 3,500 hours, 130K+ episodes, 200 tasks, collected on an $8K setup.
- The full stack is open: hardware, training code, simulation pipeline (400 hours of sim data on 24 tasks), and 5,850 labeled policy-evaluation episodes plus 100+ hours of real evaluations.
- Baseline science included: sim-to-real correlation r=0.91 on task progress, which offline metrics matter, compute scaling laws, and policy conditioning — letting academic labs compare design choices without physical robots.
Related event: Berkeley-led ABC Open-Source Bimanual Robot Stack Accepted to CoRL 2026(4 posts)→
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