---
task_categories:
- robotics
license: mit
tags:
- robotics
- multimodal
---
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}
}
```