CLARU
huzheyuan2026apache-2.0

ABC-130k (256px re-conversion) — open and lay out the surgical kit

One task from the ABC-130k dual-arm teleoperation corpus, converted to LeRobot v2.1 layout with per-episode AV1 mp4s and parquet files. Features full-frame squash to 256x256 resolution from raw XDOF/ABC-130k mcap recordings.

Downloads18
Episodes307
Hours11.1769

Why This Matters for Physical AI

This dual-arm surgical kit assembly dataset provides high-quality teleoperated demonstrations for training physical manipulation policies on complex, precise bimanual manipulation tasks.

Technical Profile

Modalities
rgbproprioception
Robot Embodiments
YAMdual-arm
Action Space
20-DoF: action
Environment
lab
Task Types
manipulationopen and lay out the surgical kit
Episodes
307
Total Hours
11.1769
Data Format
LeRobot
License
apache-2.0
Part of the ABC-130k family

Access

View on HuggingFace

Need custom rgb data?

Claru builds purpose-built datasets for lab applications with dense human annotations and quality assurance.

Request a Sample Pack

Related Datasets

ABC-130k

The largest open-source robot teleoperation dataset containing bimanual manipulation trajectories collected on two-arm YAM stations with 130,822 episodes across 3,555 hours of data.

rgbproprioception
433K downloadsJul 2026apache-2.0

ABC-130k (256px re-conversion) — pack the luggage

One task from the ABC-130k dual-arm teleoperation corpus in LeRobot v2.1 layout, featuring per-episode AV1 mp4s and parquet files re-converted from raw XDOF/ABC-130k mcap recordings with 256x256 video resolution.

rgbproprioception
176 downloadsAug 2026apache-2.0

ABC-130k (256px re-conversion)

A dual-arm teleoperation dataset from the ABC-130k corpus containing manipulation tasks, re-converted to 256x256 resolution in LeRobot v2.1 format with AV1-encoded video and parquet metadata.

rgbproprioception
49 downloadsAug 2026apache-2.0

ABC-130k (256px re-conversion) — set up the pet tent

One task from the ABC-130k dual-arm teleoperation corpus converted to LeRobot v2.1 layout with per-episode AV1 mp4s and parquet files. Features video squashed to 256x256 resolution from raw XDOF/ABC-130k mcap recordings with SVT-AV1 compression.

rgbproprioception
43 downloadsAug 2026apache-2.0

ABC-130k (256px re-conversion) — pin the brooch onto the clothing

One task from the ABC-130k dual-arm teleoperation corpus converted to LeRobot v2.1 layout with AV1-encoded video at 256x256 resolution and parquet metadata. Part of a 386-task family covering dual-arm manipulation with synchronized multi-camera observations.

rgbproprioception
39 downloadsAug 2026apache-2.0

ABC-130k (256px re-conversion) — place the plates into the plastic bin on

One task from the ABC-130k dual-arm teleoperation corpus in LeRobot v2.1 format, featuring re-converted AV1 mp4 videos at 256x256 resolution with synchronized proprioceptive and multi-view camera data from a YAM dual-arm robot.

rgbproprioception
37 downloadsAug 2026apache-2.0