README.md

# ABC-130k — Rerun RRD conversion

Per-episode [Rerun](https://rerun.io) recordings converted from the
[XDOF/ABC-130k](https://huggingface.co/datasets/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](https://huggingface.co/datasets/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:

```bash
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](https://huggingface.co/docs/hub/main/en/storage-buckets-s3#import-data-using-rclone), 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.