---
license: mit
---
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},
}
```