Scalable Behavior Cloning with Open Data, Training, and Evaluation

ABC: a fully open-source stack for bimanual manipulation with behavior cloning.

Scalable Behavior Cloning with Open Data, Training, and Evaluation Scalable Behavior Cloning with Open Data, Training, and Evaluation Arthur Allshire 1* , Himanshu Gaurav Singh 1* , Ritvik Singh 1* , Adam Rashid 2* , Hongsuk Choi 1* , David McAllister 1* Justin Yu 1,4 , Yiyuan Chen 4 , Huang Huang 4 , Pieter Abbeel 1,3 , Xi Chen 3 , Rocky Duan 3 , Phillip Isola 2 , Jitendra Malik 1,3 , Fred Shentu 1,4 , Guanya Shi 3,5 , Philipp Wu 4 , Angjoo Kanazawa 1,3 1 UC Berkeley 2 MIT 3 Amazon FAR 4 XDOF 5 Carnegie Mellon University * Core Contributor; work performed during an internship at Amazon FAR. 0

saved by

• Julian Quevedo
• Alex K
• Miguel Villa Floran

related reading

• Does Scaling Web-Video Pre-training Help Real Robots Do Real Work? | Rhoda AIrhoda.ai
• ABC-130K: The largest open source teleoperation datasetxdof.ai
• State of Robot Learning, December 2025vedder.io
• Behavioral cloning mysteryseohong.me
• A Careful Examination of Large Behavior Models for Multitask Dexterous Manipulationtoyotaresearchinstitute.github.io
• A Unified Model for Motion-Conditioned Robot Co-designtransformer-transformer.github.io
• Open X-Embodiment: Robotic Learning Datasets and RT-X Modelsarxiv.org
• e5b5c402bb7bd5e60bede6961d6fe39e-Paper-Conference.pdfproceedings.iclr.cc
• Emergent Dexterity via Diverse Resets and Large-Scale Reinforcement Learningarxiv.org
• [2603.08546] Interactive World Simulator for Robot Policy Training and Evaluationarxiv.org
• [2304.13705] Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarear5iv.labs.arxiv.org
• [2503.24278] AutoEval: Autonomous Evaluation of Generalist Robot Manipulation Policies in the Real Worldarxiv.org