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BiDemoSyn-Data

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The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code:   StreamingRowsError
Exception:    ValueError
Message:      Invalid string class label BiDemoSyn-Data@8782bbfbd437e0ded4dde8462651caf4befa05cd
Traceback:    Traceback (most recent call last):
                File "/src/services/worker/src/worker/utils.py", line 149, in get_rows_or_raise
                  return get_rows(
                      dataset=dataset,
                  ...<4 lines>...
                      column_names=column_names,
                  )
                File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
                  return func(*args, **kwargs)
                File "/src/services/worker/src/worker/utils.py", line 129, in get_rows
                  rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
                File "/src/services/worker/src/worker/utils.py", line 489, in safe_iter
                  yield from ds.decode(False) if ds.features else ds
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2818, in __iter__
                  for key, example in ex_iterable:
                                      ^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2368, in __iter__
                  example = _apply_feature_types_on_example(
                      example, self.features, token_per_repo_id=self.token_per_repo_id
                  )
                File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2285, in _apply_feature_types_on_example
                  encoded_example = features.encode_example(example)
                File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 2162, in encode_example
                  return encode_nested_example(self, example)
                File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1446, in encode_nested_example
                  {k: encode_nested_example(schema[k], obj.get(k), level=level + 1) for k in schema}
                      ~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1469, in encode_nested_example
                  return schema.encode_example(obj) if obj is not None else None
                         ~~~~~~~~~~~~~~~~~~~~~^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1144, in encode_example
                  example_data = self.str2int(example_data)
                File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1081, in str2int
                  output = [self._strval2int(value) for value in values]
                            ~~~~~~~~~~~~~~~~^^^^^^^
                File "/usr/local/lib/python3.14/site-packages/datasets/features/features.py", line 1102, in _strval2int
                  raise ValueError(f"Invalid string class label {value}")
              ValueError: Invalid string class label BiDemoSyn-Data@8782bbfbd437e0ded4dde8462651caf4befa05cd

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[RSS'26] One-Shot Real-World Demonstration Synthesis for Scalable Bimanual Manipulation
[arXiv][Paper][Project]

✅️ Datasets Collected using the Proposed BiDemoSyn

[Task ⓵ grid cells 6×6]
plugpen (2 objects / 1944 demos) 		[Task ⓶ grid cells 6×6]
inserting (2 objects / 3888 demos) 		[Task ⓷ grid cells 12×12]
unscrew (1 object / 576 demos)
[Task ⓸ grid cells 6×6]
pouring (2 objects / 2592 demos) 		[Task ⓹ grid cells 6×6]
pressing (2 objects / 1296 demos) 		[Task ⓺ grid cells 6×6]
reorient (1 object / 720 demos)

✅️ Data Format

  • For bimanual tasks (including plugpen, inserting, pouring and pressing) which have two manipulated objects, each demonstration has 9 corresponding files: {TaskObjStr}-imgL_mask_arr.json, {TaskObjStr}-imgL_mask_{ObjA}.jpg, {TaskObjStr}-imgL_mask_{ObjB}.jpg, {TaskObjStr}-imgL_raw.jpg, {TaskObjStr}-imgR_mask_arr.json, {TaskObjStr}-imgR_mask_{ObjA}.jpg, {TaskObjStr}-imgR_mask_{ObjB}.jpg, {TaskObjStr}-imgR_raw.jpg, {TaskObjStr}-labels.json.

    • {TaskObjStr} is a long string which is combined via task-related object names, orientations and positions. An example for the task inserting is ordcup01-marker02_orient01-LcupX01Y01-RpenX04Y01, which means that the left part is a cup and the right part is a marker pen with orientation id1. The X01Y01 and X04Y01 represent their coordinates in the defined grid cells.
    • File {TaskObjStr}-imgL_mask_arr.json is a Dict, which uses the object's name as the key and object's [bbox, mask] as the value (from left image).
    • Files {TaskObjStr}-imgL_mask_{ObjA}.jpg and {TaskObjStr}-imgL_mask_{ObjB}.jpg are two binary masks of manipulated objects (from left image).
    • File {TaskObjStr}-imgL_raw.jpg is a original image of the left view from the binocular camera.
    • File {TaskObjStr}-imgR_mask_arr.json is a Dict, which are results processed from the right image.
    • Files {TaskObjStr}-imgR_mask_{ObjA}.jpg and {TaskObjStr}-imgR_mask_{ObjB}.jpg are two binary masks of manipulated objects (from right image).
    • File {TaskObjStr}-imgR_raw.jpg is a original image of the right view from the binocular camera.
    • File {TaskObjStr}-labels.json is a Dict, which contains sparse 7-DoF keyposes/keyframes (the value under each key is a list [position_x, position_y, position_z, rotation_x, rotation_y, rotation_y, gripper]) of the left-arm and right-arm asynchronously. example_inserting-files

  • For bimanual (including unscrew and reorient) which have only one manipulated object, each demonstration has 7 corresponding files: {TaskObjStr}-imgL_mask_arr.json, {TaskObjStr}-imgL_mask_{Obj}.jpg, {TaskObjStr}-imgL_raw.jpg, {TaskObjStr}-imgR_mask_arr.json, {TaskObjStr}-imgR_mask_{Obj}.jpg, {TaskObjStr}-imgR_raw.jpg, {TaskObjStr}-labels.json.

    • {TaskObjStr} is also a long string which is combined via task-related object names, orientations and positions. An example for the task unscrew is bottle03_orient01_p1-LRbottleX01Y01, which means that the platform has only one bottle every time. The X01Y01 represents its coordinates in the defined grid cells.
    • These 7 files have the same format as above mentioned. The two missing files comparing to 9 are due to the absence of an object mask in the left and right images, respectively. example_unscrew-files

✅️ Citation

If you use our data in your research, please cite with:

@article{zhou2025one,
    title={One-Shot Real-World Demonstration Synthesis for Scalable Bimanual Manipulation},
    author={Huayi Zhou, Kui Jia},
    journal={arXiv preprint arXiv:2512.09297},
    year={2025}
}
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