Datasets:
Search is not available for this dataset
observation.state
sequence | action
sequence | observation.velocity
sequence | observation.effort
sequence | observation.images.cam_high
imagewidth (px) 640
640
| observation.images.cam_low
imagewidth (px) 640
640
| observation.images.cam_left_wrist
imagewidth (px) 640
640
| observation.images.cam_right_wrist
imagewidth (px) 640
640
| timestamp
float32 0
5.98
| frame_index
int64 0
299
| episode_index
int64 0
8
| index
int64 0
2.7k
| task_index
int64 0
0
|
|---|---|---|---|---|---|---|---|---|---|---|---|---|
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End of preview. Expand
in Dataset Viewer.
This dataset was created using LeRobot.
Dataset Description
This dataset is a lerobot conversion of the aloha_pen_uncap_diverse subset of BiPlay.
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 and Sergey Levine},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
year={2025},
address = {Atlanta, USA}
}
Dataset Structure
{
"codebase_version": "v2.0",
"robot_type": "aloha",
"total_episodes": 123,
"total_frames": 36900,
"total_tasks": 1,
"total_videos": 0,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 50,
"splits": {
"train": "0:123"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
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"right_wrist_angle",
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"right_gripper",
"left_waist",
"left_shoulder",
"left_elbow",
"left_forearm_roll",
"left_wrist_angle",
"left_wrist_rotate",
"left_gripper"
]
]
},
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"names": [
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"right_gripper",
"left_waist",
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]
]
},
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"right_gripper",
"left_waist",
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"left_elbow",
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},
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},
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},
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],
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},
"timestamp": {
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},
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}
}
}
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