angkul07/abc-pick-and-place

ABC-130k -- Pick-and-Place Subset

A task-filtered slice of XDOF/ABC-130k containing only the pick-and-place manipulation tasks (grasp a rigid object -> transport -> place at a target pose). Bimanual YAM teleoperation, MCAP format.

Layout: data/train/<task_name>/episode_<uuid>/episode.mcap (+ annotation.mcap on annotated episodes).

This is a derivative subset for research convenience. All credit to the original ABC authors; please cite the source paper and respect the source dataset's terms.

Citation

@misc{abc2026,
  title  = {Scalable Behavior Cloning with Open Data, Training, and Evaluation},
  author = {Allshire, Arthur and Singh, Himanshu Gaurav and Singh, Ritvik and
            Rashid, Adam and Choi, Hongsuk and McAllister, David and others},
  year   = {2026}, eprint = {2606.27375}, archivePrefix = {arXiv},
  primaryClass = {cs.RO}, url = {https://arxiv.org/abs/2606.27375}
}