BiPlay contains 9.7 hours of bimanual data collected with an aloha robot at the RAIL lab @ UC Berkeley, USA. It contains 7023 clips, 2000 language annotations and 326 unique scenes.
Paper:
https://huggingface.co/papers/2410.10088
Code:
https://github.com/sudeepdasari/dit-policy
If you use the dataset please cite:
@inproceedings{dasari2025ingredients,
title={The Ingredients for Robotic Diffusion Transformers},
author={Sudeep Dasari and Oier Mees and Sebastian Zhao and Mohan Kumar Srirama… See the full description on the dataset page:
https://huggingface.co/datasets/oier-mees/BiPlay.
