arxivcs.RO2026-06-25
Scalable Behavior Cloning with Open Data, Training, and Evaluation
Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh, Adam Rashid, Hongsuk Choi, David McAllister, et al.
We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500 hours of data spanning over 130K episodes across 195 diverse tasks. Furthermore, we open-source our…