This dataset is a FiftyOne conversion in LeRobot format of the aloha_pen_uncap_diverse subset of BiPlay.
The aloha_pen_uncap_diverse subset is a task-specific segment of BiPlay focusing on the long-horizon, dexterous bimanual task of un-capping a pen under diverse conditions. It contains episodes where the robot is required to grasp a pen and successfully remove its cap—an action requiring coordination and dexterity—across a wide range of object… See the full description on the dataset page:
https://huggingface.co/datasets/Voxel51/aloha_pen_uncap.
