Dataset Card for aloha pen uncap This dataset is a FiftyOne conversion in LeRobot format of the aloha pen uncap diverse subset of BiPlay. The aloha pen uncap diverse subset is a task specific segment of BiPlay focusing on the long horizon, dexterous bimanual task of un capping a pen under diverse conditions. It contains episodes where the robot is required to grasp a pen and successfully remove its cap—an action requiring coordination and dexterity—across a wide range of object placements, backgrounds, and distractor objects. This diversity is designed specifically to benchmark policy generalization and to test the ability of learned policies (such as diffusion transformer based ones) to adapt to varied real world scenarios[4][5]. Key attributes of the aloha pen uncap diverse subset: Task: Bimanual pen uncapping with an ALOHA robot, including significant variation in scene and object arrangement. Format: Converted into the LeRobot dataset v2.0 format for compatibility with common robotics learning frameworks[6][4]. Data Contents: The dataset includes state sequences, action sequences, velocities, efforts, and high resolution images from multiple camera viewpoints for each time step…
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