AIST Bimanual Manipulation
Dataset
A Dataset for Learning Bimanual Robot Control, Collected via Leader-Follower Teleoperation
1Embodied AI Research Team, AIRC and National Institute of Advanced Industrial Science and Technology (AIST)
2CNRS-AIST JRL (Joint Robotics Laboratory), IRL and National Institute of Advanced Industrial Science and Technology (AIST)
This work is licensed under a
Creative Commons Attribution 4.0 International License
.
© 2025 National Institute of Advanced Industrial Science and Technology（AIST）
The AIST-Bimanual Manipulation Dataset is a comprehensive resource for bimanual robot learning, collected via teleoperation using the open-source ALOHA dual-arm system.
It contains over 10,000 episodes spanning more than 100 distinct tasks, covering a wide range of manipulation scenarios — from basic pick-and-place to complex assembly and coordinated bimanual activities.
Highlights:
- Supports bimanual manipulation research.
- Enables development of generalizable, dexterous control strategies.
- Includes multi-view recordings and textual annotations.
This dataset serves as a foundational resource for advancing research in bimanual manipulation and embodied intelligence.
Data Composition
Our dataset contains diverse bimanual manipulation tasks organized by complexity and skill requirements. Each task includes multiple demonstrations with synchronized multi-camera views and precise joint tracking.
| Task ID | Task Name | Example | Taxonomy | Skill | Num. | Date | Download |
|---|---|---|---|---|---|---|---|
| 66 | brush_screws_into_dustpan_human_brush_left_hold |  |
collaboration | brush | 50 | 2025-01-21 | Download |
| 67 | brush_screws_into_dustpan_left_brush_human_hold |  |
collaboration | brush | 50 | 2025-01-22 | Download |
| 89 | close_cardboard_box |  |
Asynchronous Bimanual | close | 100 | 2025-02-14 | Download |
| 85 | close_toolbox |  |
independent | close | 100 | 2025-02-06 | Download |
| 58 | find_hole_and_insert_into_gear |  |
independent | find | 100 | 2024-12-16 | Download |
| 10 | find_insert_large_gear_shaft |  |
independent | find | 100 | 2024-10-02 | Download |
| 11 | find_insert_small_gear_shaft |  |
independent | find | 100 | 2024-10-02 | Download |
| 2 | fit_large_gear_shaft |  |
independent | fit | 50 | 2024-09-11 | Download |
| 3 | fit_small_gear_shaft |  |
independent | fit | 50 | 2024-09-11 | Download |
| 111 | fold_bath_towel |  |
Asynchronous Bimanual | fold | 50 | 2025-04-15 | Download |
| 110 | fold_big_towel |  |
Asynchronous Bimanual | fold | 50 | 2025-04-11 | Download |
| 73 | fold_blue_towel |  |
Asynchronous Bimanual | fold | 200 | 2025-01-23 | Download |
| 108 | fold_green_towel |  |
Asynchronous Bimanual | fold | 100 | 2025-04-08 | Download |
| 107 | fold_light_blue_towel |  |
Asynchronous Bimanual | fold | 100 | 2025-04-07 | Download |
| 106 | fold_orange_towel |  |
Asynchronous Bimanual | fold | 100 | 2025-04-04 | Download |
| 109 | fold_towel_assist |  |
Asynchronous Bimanual | fold | 100 | 2025-04-09 | Download |
| 97 | fold_towel_in_random_places |  |
Synchronous Bimanual | fold | 100 | 2025-04-02 | Download |
| 74 | fold_yellow_towel |  |
Asynchronous Bimanual | fold | 100 | 2025-01-28 | Download |
| 93 | handover_and_wipe_sponge |  |
Asynchronous Bimanual | handover | 100 | 2025-03-11 | Download |
| 48 | handover_blue_block |  |
Asynchronous Bimanual | handover | 200 | 2024-12-09 | Download |
| 31 | handover_clear_zip_bag_upright |  |
Asynchronous Bimanual | handover | 30 | 2024-10-30 | Download |
| 30 | handover_metallic_zip_bag_upright |  |
Asynchronous Bimanual | handover | 94 | 2024-10-30 | Download |
| 96 | handover_towel |  |
Asynchronous Bimanual | handover | 100 | 2025-03-31 | Download |
| 70 | hit_mark_with_hammer |  |
Asynchronous Bimanual | hit | 100 | 2025-01-22 | Download |
| 12 | hook_cable_8pin |  |
independent | hook | 50 | 2024-09-04 | Download |
| 13 | hook_cable_narrow_8pin |  |
independent | hook | 50 | 2024-09-11 | Download |
| 56 | hook_rubber_shaft |  |
independent | hook | 50 | 2024-12-12 | Download |
| 36 | insert_gear_onto_shaft_sliding |  |
Unimanual | insert | 50 | 2024-11-21 | Download |
| 44 | insert_lan_cable_into_the_hub |  |
Asynchronous Bimanual | insert | 100 | 2025-01-16 | Download |
| 8 | insert_large_gear_shaft |  |
independent | insert | 100 | 2024-09-19 | Download |
| 59 | insert_random_shaft_random_medium_gear |  |
independent | insert | 300 | 2024-12-20 | Download |
| 60 | insert_random_shaft_random_small_gear |  |
independent | insert | 300 | 2024-12-24 | Download |
| 16 | insert_rod_board |  |
Asynchronous Bimanual | insert | 30 | 2024-10-03 | Download |
| 17 | insert_rod_moved_board |  |
Asynchronous Bimanual | insert | 60 | 2024-10-03 | Download |
| 57 | insert_shaft_into_gear |  |
independent | insert | 50 | 2024-12-13 | Download |
| 9 | insert_small_gear_shaft |  |
independent | insert | 100 | 2024-09-19 | Download |
| 4 | insert_usb_cable |  |
Asynchronous Bimanual | insert | 50 | 2024-09-03 | Download |
| 20 | insert_usb_cable_board |  |
independent | insert | 50 | 2024-10-03 | Download |
| 5 | insert_usb_cable_fix_parts |  |
independent | insert | 50 | 2024-09-03 | Download |
| 6 | insert_usb_cable_fixed_by_robot |  |
Asynchronous Bimanual | insert | 50 | 2024-09-03 | Download |
| 7 | insert_usb_pcbox |  |
independent | insert | 50 | 2024-09-02 | Download |
| 14 | insert_usb_port_hub |  |
independent | insert | 150 | 2024-10-03 | Download |
| 1 | insert_washer_shaft |  |
independent | insert | 100 | 2024-09-03 | Download |
| 28 | insert_washer_shaft_both_hands |  |
independent | insert | 130 | 2024-10-30 | Download |
| 15 | insert_wire_loop |  |
Asynchronous Bimanual | insert | 600 | 2024-10-03 | Download |
| 19 | insert_wire_marked_metal_fitting |  |
Asynchronous Bimanual | insert | 120 | 2024-10-03 | Download |
| 18 | insert_wire_metal_fitting |  |
Asynchronous Bimanual | insert | 30 | 2024-10-03 | Download |
| 39 | lift_board |  |
Synchronous Bimanual | lift | 50 | 2024-11-11 | Download |
| 54 | lift_clamped_cardboard_box |  |
Synchronous Bimanual | lift | 50 | 2024-12-10 | Download |
| 41 | lift_large_metal_rail |  |
Synchronous Bimanual | lift | 50 | 2024-11-14 | Download |
| 40 | lift_metal_rail |  |
Synchronous Bimanual | lift | 148 | 2024-11-12 | Download |
| 49 | lift_place_clamped_box_lid |  |
Synchronous Bimanual | lift | 50 | 2024-12-03 | Download |
| 94 | lift_the_towel |  |
Synchronous Bimanual | lift | 100 | 2025-03-14 | Download |
| 43 | lift_white_basket |  |
Synchronous Bimanual | lift | 100 | 2024-11-21 | Download |
| 42 | lift_white_case |  |
Synchronous Bimanual | lift | 50 | 2024-11-21 | Download |
| 62 | open_cap_bottle |  |
Asynchronous Bimanual | open | 100 | 2025-01-17 | Download |
| 84 | open_toolbox |  |
Synchronous Bimanual | open | 100 | 2025-02-03 | Download |
| 29 | pass_usb_cable_three_rings |  |
independent | pass | 100 | 2024-10-30 | Download |
| 34 | peel_duct_tape |  |
Asynchronous Bimanual | peel | 50 | 2024-11-19 | Download |
| 33 | peel_off_magic_tape |  |
Asynchronous Bimanual | peel | 50 | 2024-11-18 | Download |
| 46 | pick_box_cardboard_box |  |
independent | pick | 108 | 2024-11-29 | Download |
| 45 | pick_box_plastic_case |  |
independent | pick | 50 | 2024-11-29 | Download |
| 47 | pick_box_randomly_placed_in_cardboard_box |  |
independent | pick | 60 | 2024-11-29 | Download |
| 101 | pick_corner_brachets_from_rack |  |
independent | pick | 50 | 2025-04-07 | Download |
| 98 | pick_cutter_from_rack |  |
independent | pick | 50 | 2025-04-04 | Download |
| 105 | pick_foam_tape_from_rack |  |
independent | pick | 50 | 2025-04-09 | Download |
| 100 | pick_frame_from_rack |  |
independent | pick | 50 | 2025-04-07 | Download |
| 86 | pick_nipper_from_toolbox |  |
independent | pick | 100 | 2025-02-04 | Download |
| 102 | pick_scraper_from_rack |  |
independent | pick | 50 | 2025-04-07 | Download |
| 99 | pick_screwdriver_from_rack |  |
independent | pick | 50 | 2025-04-04 | Download |
| 87 | pick_screwdriver_from_toolbox |  |
independent | pick | 100 | 2025-02-05 | Download |
| 103 | pick_screwdriver_red_from_rack |  |
independent | pick | 50 | 2025-04-07 | Download |
| 82 | pick_up_blue_cloth_from_shopping_basket |  |
independent | pick | 100 | 2025-02-12 | Download |
| 76 | pick_up_cellophane_tape_from_shopping_basket |  |
independent | pick | 100 | 2025-02-05 | Download |
| 80 | pick_up_chinese_spoon_from_shopping_basket |  |
independent | pick | 100 | 2025-02-07 | Download |
| 77 | pick_up_dustpan_from_shopping_basket |  |
independent | pick | 100 | 2025-02-05 | Download |
| 78 | pick_up_hand_brush_from_shopping_basket |  |
independent | pick | 100 | 2025-02-05 | Download |
| 81 | pick_up_orange_cloth_from_shopping_basket |  |
independent | pick | 100 | 2025-02-12 | Download |
| 75 | pick_up_slipper_from_shopping_basket |  |
independent | pick | 100 | 2025-02-03 | Download |
| 79 | pick_up_tape_dispenser_from_shopping_basket |  |
independent | pick | 100 | 2025-02-06 | Download |
| 83 | pick_up_yellow_cloth_from_shopping_basket |  |
independent | pick | 100 | 2025-02-12 | Download |
| 104 | pick_vinyl_tape_red_from_rack |  |
independent | pick | 50 | 2025-04-08 | Download |
| 112 | place_block_cup |  |
Asynchronous Bimanual | place | 390 | 2025-05-19 | Download |
| 91 | place_blue_towel_container |  |
independent | place | 100 | 2025-02-14 | Download |
| 119 | place_box_white_base_from_black_base | — | independent | place | 52 | 2024-11-29 | Download |
| 118 | place_box_white_base_from_tray | — | independent | place | 52 | 2024-11-29 | Download |
| 55 | place_clamped_cardboard_box_stand |  |
Synchronous Bimanual | place | 81 | 2024-12-12 | Download |
| 88 | place_orange_towel_container |  |
independent | place | 100 | 2025-02-14 | Download |
| 38 | place_random_tape_case |  |
independent | place | 130 | 2024-11-25 | Download |
| 69 | place_soldering_iron_and_solder_on_marker |  |
Unimanual | place | 100 | 2025-01-20 | Download |
| 61 | place_soldering_iron_on_marker |  |
independent | place | 100 | 2025-01-16 | Download |
| 37 | place_tape_case |  |
independent | place | 30 | 2024-11-25 | Download |
| 117 | place_tape_roll_case |  |
independent | place | 50 | 2024-12-27 | Download |
| 72 | place_the_chinese_spoons_on_the_cloth |  |
independent | place | 50 | 2025-01-23 | Download |
| 68 | place_the_slippers |  |
independent | place | 50 | 2025-01-22 | Download |
| 92 | place_yellow_towel_container |  |
independent | place | 100 | 2025-02-17 | Download |
| 21 | put_cup_holder_right_arm |  |
Synchronous Bimanual | put | 60 | 2024-10-03 | Download |
| 22 | put_cup_moved_holder |  |
Unimanual | put | 30 | 2024-10-30 | Download |
| 23 | put_cup_moved_red_handle_holder |  |
Unimanual | put | 100 | 2024-10-30 | Download |
| 24 | put_tape_in_basket |  |
Unimanual | put | 60 | 2024-10-09 | Download |
| 25 | put_tape_white_case_alternating_arms |  |
Unimanual | put | 100 | 2024-10-15 | Download |
| 26 | put_tape_white_case_left_arm |  |
independent | put | 50 | 2024-10-18 | Download |
| 27 | put_tape_white_case_right_arm |  |
independent | put | 50 | 2024-10-22 | Download |
| 50 | remove_box_from_case |  |
Unimanual | remove | 50 | 2024-12-06 | Download |
| 51 | remove_box_from_case_both_hands |  |
Synchronous Bimanual | remove | 50 | 2024-12-11 | Download |
| 52 | remove_box_from_case_left_arm |  |
independent | remove | 50 | 2024-12-09 | Download |
| 53 | remove_box_from_case_right_arm |  |
independent | remove | 50 | 2024-12-10 | Download |
| 35 | sliding_the_gears |  |
Asynchronous Bimanual | sliding | 50 | 2024-11-19 | Download |
| 114 | spoon_red_block_bowl |  |
independent | spoon | 200 | 2025-05-28 | Download |
| 116 | spoon_yellow_block_bowl |  |
independent | spoon | 400 | 2025-06-05 | Download |
| 32 | take_out_reel_clear_zip_bag |  |
Asynchronous Bimanual | take | 60 | 2024-10-30 | Download |
| 90 | tape_closed_cardboard |  |
Asynchronous Bimanual | tape | 100 | 2025-02-21 | Download |
| 95 | turn_towel_over |  |
Synchronous Bimanual | turn | 100 | 2025-03-19 | Download |
| 65 | wipe_the_desk_with_a_blue_cloth |  |
independent | wipe | 50 | 2025-01-21 | Download |
| 71 | wipe_the_desk_with_a_sponge |  |
independent | wipe | 50 | 2025-01-22 | Download |
| 64 | wipe_the_desk_with_a_yellow_cloth |  |
independent | wipe | 50 | 2025-01-21 | Download |
| 63 | wipe_the_desk_with_an_orange_cloth |  |
independent | wipe | 50 | 2025-01-20 | Download |
| Total | 10,705 | ||||||
Citation
@misc{aist2025bimanip,
author = {Tomohiro Motoda and Masaki Murooka and Ryoichi Nakajo and
Muhammad A. Muttaqien and Koshi Makihara and Hanbit Oh and Keisuke Shirai and
Floris Erich and Ryo Hanai and Yukiyasu Domae},
title = {AIST-Bimanual Manipulation},
year = {2025},
}