ABC-130k — Rerun RRD conversion

Per-episode Rerun recordings converted from the XDOF/ABC-130k robot-teleoperation dataset. Each episode is one .rrd file named <task>__<uuid>.rrd, ready to view in the Rerun Viewer or to register as a catalog dataset.

Provenance and attribution

This dataset is a converted derivative of XDOF/ABC-130k, released by its original authors under the Apache License 2.0. All credit for the underlying data collection belongs to the original authors. The original authors do not endorse this conversion.

Changes from the source

• Each episode's episode.mcap (plus annotation.mcap when present) is converted into one Rerun .rrd recording.
• Camera video is re-encoded for finer seeking; 1920x1200 streams are downscaled to 640x400 with the camera intrinsics rescaled to match.

Conversion code to be added.

Contents

Each recording carries the source episode's streams on their MCAP-native timelines:

• Camera video streams with pinhole calibration.
• Per-joint arm and gripper state/action series (position, velocity, torque) for both arms.
• The task instruction, and timestamped subtask labels for annotated episodes.

130,703 episodes, ~33 TB total.

How to use

Fetch an episode from the bucket and view it locally:

pip install "huggingface_hub[cli]" rerun-sdk
hf buckets cp hf://buckets/<namespace>/<bucket>/<task>__<uuid>.rrd .
rerun <task>__<uuid>.rrd

To copy the whole bucket, mirror it bucket-to-bucket rather than to a local disk. The bucket is reachable over an S3-compatible API, so rclone can stream it straight into your own S3-compatible storage.

License

Apache License 2.0, the same license as the source dataset — the full text ships as the LICENSE file at the root of this bucket. If you redistribute or build on this data, keep the attribution above and comply with the license terms.