Berkeley-led ABC: open-source bimanual behavior cloning stack with 3.5K-hour dataset
chris_j_paxton · x · 2026-09-19
ABC, a fully open-source stack for bimanual manipulation with behavior cloning from UC Berkeley, MIT, Amazon FAR and others, has been fully released and accepted to CoRL 2026.
Key releases:
- ABC-130K, the largest bimanual teleoperation dataset to date: 3,500 hours of real-world data, 130K trajectories across nearly 200 tasks
- Open-sourced hardware setup, training infrastructure, and simulation pipeline, plus 400 hours of sim teleop data across 20 scenes and 5,850 labeled policy-evaluation episodes
- A sim/real co-training recipe that lets researchers evaluate design choices without deploying physical robots
- Comparisons of common DiT vs VLA architectural choices across compute scales
Hardware partner i2rt notes a capable bimanual setup can be deployed for under $6,000 with a discount code.
Related event: Berkeley-led ABC Open-Source Bimanual Robot Stack Accepted to CoRL 2026(4 posts)→
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