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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. If you use the dataset please cite:
@article{dasari2024ditpi,
title={The Ingredients for Robotic Diffusion Transformers},
author = {Sudeep Dasari and Oier Mees and Sebastian Zhao and Mohan Kumar Srirama and Sergey Levine},
journal = {arXiv preprint arXiv:2410.10088},
year={2024},
}
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