AIST Bimanual Manipulation
Dataset

A Dataset for Learning Bimanual Robot Control, Collected via Leader-Follower Teleoperation

Tomohiro Motoda1, Masaki Murooka1,2, Ryoichi Nakajo1, Muhammad A. Muttaqien1,
Koshi Makihara1, Hanbit Oh1, Keisuke Shirai1, Floris Erich1, Ryo Hanai1, and Yukiyasu Domae1

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)

CC BY 4.0 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.

Download Task List (CSV)

Complete task metadata including descriptions, categories, and episode counts

Task-level composition generated from CSV
Task ID Task Name Example Taxonomy Skill Num. Date Download
66 brush_screws_into_dustpan_human_brush_left_hold Preview for brush_screws_into_dustpan_human_brush_left_hold collaboration brush 50 2025-01-21 Download
67 brush_screws_into_dustpan_left_brush_human_hold Preview for brush_screws_into_dustpan_left_brush_human_hold collaboration brush 50 2025-01-22 Download
89 close_cardboard_box Preview for close_cardboard_box Asynchronous Bimanual close 100 2025-02-14 Download
85 close_toolbox Preview for close_toolbox independent close 100 2025-02-06 Download
58 find_hole_and_insert_into_gear Preview for find_hole_and_insert_into_gear independent find 100 2024-12-16 Download
10 find_insert_large_gear_shaft Preview for find_insert_large_gear_shaft independent find 100 2024-10-02 Download
11 find_insert_small_gear_shaft Preview for find_insert_small_gear_shaft independent find 100 2024-10-02 Download
2 fit_large_gear_shaft Preview for fit_large_gear_shaft independent fit 50 2024-09-11 Download
3 fit_small_gear_shaft Preview for fit_small_gear_shaft independent fit 50 2024-09-11 Download
111 fold_bath_towel Preview for fold_bath_towel Asynchronous Bimanual fold 50 2025-04-15 Download
110 fold_big_towel Preview for fold_big_towel Asynchronous Bimanual fold 50 2025-04-11 Download
73 fold_blue_towel Preview for fold_blue_towel Asynchronous Bimanual fold 200 2025-01-23 Download
108 fold_green_towel Preview for fold_green_towel Asynchronous Bimanual fold 100 2025-04-08 Download
107 fold_light_blue_towel Preview for fold_light_blue_towel Asynchronous Bimanual fold 100 2025-04-07 Download
106 fold_orange_towel Preview for fold_orange_towel Asynchronous Bimanual fold 100 2025-04-04 Download
109 fold_towel_assist Preview for fold_towel_assist Asynchronous Bimanual fold 100 2025-04-09 Download
97 fold_towel_in_random_places Preview for fold_towel_in_random_places Synchronous Bimanual fold 100 2025-04-02 Download
74 fold_yellow_towel Preview for fold_yellow_towel Asynchronous Bimanual fold 100 2025-01-28 Download
93 handover_and_wipe_sponge Preview for handover_and_wipe_sponge Asynchronous Bimanual handover 100 2025-03-11 Download
48 handover_blue_block Preview for handover_blue_block Asynchronous Bimanual handover 200 2024-12-09 Download
31 handover_clear_zip_bag_upright Preview for handover_clear_zip_bag_upright Asynchronous Bimanual handover 30 2024-10-30 Download
30 handover_metallic_zip_bag_upright Preview for handover_metallic_zip_bag_upright Asynchronous Bimanual handover 94 2024-10-30 Download
96 handover_towel Preview for handover_towel Asynchronous Bimanual handover 100 2025-03-31 Download
70 hit_mark_with_hammer Preview for hit_mark_with_hammer Asynchronous Bimanual hit 100 2025-01-22 Download
12 hook_cable_8pin Preview for hook_cable_8pin independent hook 50 2024-09-04 Download
13 hook_cable_narrow_8pin Preview for hook_cable_narrow_8pin independent hook 50 2024-09-11 Download
56 hook_rubber_shaft Preview for hook_rubber_shaft independent hook 50 2024-12-12 Download
36 insert_gear_onto_shaft_sliding Preview for insert_gear_onto_shaft_sliding Unimanual insert 50 2024-11-21 Download
44 insert_lan_cable_into_the_hub Preview for insert_lan_cable_into_the_hub Asynchronous Bimanual insert 100 2025-01-16 Download
8 insert_large_gear_shaft Preview for insert_large_gear_shaft independent insert 100 2024-09-19 Download
59 insert_random_shaft_random_medium_gear Preview for insert_random_shaft_random_medium_gear independent insert 300 2024-12-20 Download
60 insert_random_shaft_random_small_gear Preview for insert_random_shaft_random_small_gear independent insert 300 2024-12-24 Download
16 insert_rod_board Preview for insert_rod_board Asynchronous Bimanual insert 30 2024-10-03 Download
17 insert_rod_moved_board Preview for insert_rod_moved_board Asynchronous Bimanual insert 60 2024-10-03 Download
57 insert_shaft_into_gear Preview for insert_shaft_into_gear independent insert 50 2024-12-13 Download
9 insert_small_gear_shaft Preview for insert_small_gear_shaft independent insert 100 2024-09-19 Download
4 insert_usb_cable Preview for insert_usb_cable Asynchronous Bimanual insert 50 2024-09-03 Download
20 insert_usb_cable_board Preview for insert_usb_cable_board independent insert 50 2024-10-03 Download
5 insert_usb_cable_fix_parts Preview for insert_usb_cable_fix_parts independent insert 50 2024-09-03 Download
6 insert_usb_cable_fixed_by_robot Preview for insert_usb_cable_fixed_by_robot Asynchronous Bimanual insert 50 2024-09-03 Download
7 insert_usb_pcbox Preview for insert_usb_pcbox independent insert 50 2024-09-02 Download
14 insert_usb_port_hub Preview for insert_usb_port_hub independent insert 150 2024-10-03 Download
1 insert_washer_shaft Preview for insert_washer_shaft independent insert 100 2024-09-03 Download
28 insert_washer_shaft_both_hands Preview for insert_washer_shaft_both_hands independent insert 130 2024-10-30 Download
15 insert_wire_loop Preview for insert_wire_loop Asynchronous Bimanual insert 600 2024-10-03 Download
19 insert_wire_marked_metal_fitting Preview for insert_wire_marked_metal_fitting Asynchronous Bimanual insert 120 2024-10-03 Download
18 insert_wire_metal_fitting Preview for insert_wire_metal_fitting Asynchronous Bimanual insert 30 2024-10-03 Download
39 lift_board Preview for lift_board Synchronous Bimanual lift 50 2024-11-11 Download
54 lift_clamped_cardboard_box Preview for lift_clamped_cardboard_box Synchronous Bimanual lift 50 2024-12-10 Download
41 lift_large_metal_rail Preview for lift_large_metal_rail Synchronous Bimanual lift 50 2024-11-14 Download
40 lift_metal_rail Preview for lift_metal_rail Synchronous Bimanual lift 148 2024-11-12 Download
49 lift_place_clamped_box_lid Preview for lift_place_clamped_box_lid Synchronous Bimanual lift 50 2024-12-03 Download
94 lift_the_towel Preview for lift_the_towel Synchronous Bimanual lift 100 2025-03-14 Download
43 lift_white_basket Preview for lift_white_basket Synchronous Bimanual lift 100 2024-11-21 Download
42 lift_white_case Preview for lift_white_case Synchronous Bimanual lift 50 2024-11-21 Download
62 open_cap_bottle Preview for open_cap_bottle Asynchronous Bimanual open 100 2025-01-17 Download
84 open_toolbox Preview for open_toolbox Synchronous Bimanual open 100 2025-02-03 Download
29 pass_usb_cable_three_rings Preview for pass_usb_cable_three_rings independent pass 100 2024-10-30 Download
34 peel_duct_tape Preview for peel_duct_tape Asynchronous Bimanual peel 50 2024-11-19 Download
33 peel_off_magic_tape Preview for peel_off_magic_tape Asynchronous Bimanual peel 50 2024-11-18 Download
46 pick_box_cardboard_box Preview for pick_box_cardboard_box independent pick 108 2024-11-29 Download
45 pick_box_plastic_case Preview for pick_box_plastic_case independent pick 50 2024-11-29 Download
47 pick_box_randomly_placed_in_cardboard_box Preview for pick_box_randomly_placed_in_cardboard_box independent pick 60 2024-11-29 Download
101 pick_corner_brachets_from_rack Preview for pick_corner_brachets_from_rack independent pick 50 2025-04-07 Download
98 pick_cutter_from_rack Preview for pick_cutter_from_rack independent pick 50 2025-04-04 Download
105 pick_foam_tape_from_rack Preview for pick_foam_tape_from_rack independent pick 50 2025-04-09 Download
100 pick_frame_from_rack Preview for pick_frame_from_rack independent pick 50 2025-04-07 Download
86 pick_nipper_from_toolbox Preview for pick_nipper_from_toolbox independent pick 100 2025-02-04 Download
102 pick_scraper_from_rack Preview for pick_scraper_from_rack independent pick 50 2025-04-07 Download
99 pick_screwdriver_from_rack Preview for pick_screwdriver_from_rack independent pick 50 2025-04-04 Download
87 pick_screwdriver_from_toolbox Preview for pick_screwdriver_from_toolbox independent pick 100 2025-02-05 Download
103 pick_screwdriver_red_from_rack Preview for pick_screwdriver_red_from_rack independent pick 50 2025-04-07 Download
82 pick_up_blue_cloth_from_shopping_basket Preview for pick_up_blue_cloth_from_shopping_basket independent pick 100 2025-02-12 Download
76 pick_up_cellophane_tape_from_shopping_basket Preview for pick_up_cellophane_tape_from_shopping_basket independent pick 100 2025-02-05 Download
80 pick_up_chinese_spoon_from_shopping_basket Preview for pick_up_chinese_spoon_from_shopping_basket independent pick 100 2025-02-07 Download
77 pick_up_dustpan_from_shopping_basket Preview for pick_up_dustpan_from_shopping_basket independent pick 100 2025-02-05 Download
78 pick_up_hand_brush_from_shopping_basket Preview for pick_up_hand_brush_from_shopping_basket independent pick 100 2025-02-05 Download
81 pick_up_orange_cloth_from_shopping_basket Preview for pick_up_orange_cloth_from_shopping_basket independent pick 100 2025-02-12 Download
75 pick_up_slipper_from_shopping_basket Preview for pick_up_slipper_from_shopping_basket independent pick 100 2025-02-03 Download
79 pick_up_tape_dispenser_from_shopping_basket Preview for pick_up_tape_dispenser_from_shopping_basket independent pick 100 2025-02-06 Download
83 pick_up_yellow_cloth_from_shopping_basket Preview for pick_up_yellow_cloth_from_shopping_basket independent pick 100 2025-02-12 Download
104 pick_vinyl_tape_red_from_rack Preview for pick_vinyl_tape_red_from_rack independent pick 50 2025-04-08 Download
112 place_block_cup Preview for place_block_cup Asynchronous Bimanual place 390 2025-05-19 Download
91 place_blue_towel_container Preview for 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 Preview for place_clamped_cardboard_box_stand Synchronous Bimanual place 81 2024-12-12 Download
88 place_orange_towel_container Preview for place_orange_towel_container independent place 100 2025-02-14 Download
38 place_random_tape_case Preview for place_random_tape_case independent place 130 2024-11-25 Download
69 place_soldering_iron_and_solder_on_marker Preview for place_soldering_iron_and_solder_on_marker Unimanual place 100 2025-01-20 Download
61 place_soldering_iron_on_marker Preview for place_soldering_iron_on_marker independent place 100 2025-01-16 Download
37 place_tape_case Preview for place_tape_case independent place 30 2024-11-25 Download
117 place_tape_roll_case Preview for place_tape_roll_case independent place 50 2024-12-27 Download
72 place_the_chinese_spoons_on_the_cloth Preview for place_the_chinese_spoons_on_the_cloth independent place 50 2025-01-23 Download
68 place_the_slippers Preview for place_the_slippers independent place 50 2025-01-22 Download
92 place_yellow_towel_container Preview for place_yellow_towel_container independent place 100 2025-02-17 Download
21 put_cup_holder_right_arm Preview for put_cup_holder_right_arm Synchronous Bimanual put 60 2024-10-03 Download
22 put_cup_moved_holder Preview for put_cup_moved_holder Unimanual put 30 2024-10-30 Download
23 put_cup_moved_red_handle_holder Preview for put_cup_moved_red_handle_holder Unimanual put 100 2024-10-30 Download
24 put_tape_in_basket Preview for put_tape_in_basket Unimanual put 60 2024-10-09 Download
25 put_tape_white_case_alternating_arms Preview for put_tape_white_case_alternating_arms Unimanual put 100 2024-10-15 Download
26 put_tape_white_case_left_arm Preview for put_tape_white_case_left_arm independent put 50 2024-10-18 Download
27 put_tape_white_case_right_arm Preview for put_tape_white_case_right_arm independent put 50 2024-10-22 Download
50 remove_box_from_case Preview for remove_box_from_case Unimanual remove 50 2024-12-06 Download
51 remove_box_from_case_both_hands Preview for remove_box_from_case_both_hands Synchronous Bimanual remove 50 2024-12-11 Download
52 remove_box_from_case_left_arm Preview for remove_box_from_case_left_arm independent remove 50 2024-12-09 Download
53 remove_box_from_case_right_arm Preview for remove_box_from_case_right_arm independent remove 50 2024-12-10 Download
35 sliding_the_gears Preview for sliding_the_gears Asynchronous Bimanual sliding 50 2024-11-19 Download
114 spoon_red_block_bowl Preview for spoon_red_block_bowl independent spoon 200 2025-05-28 Download
116 spoon_yellow_block_bowl Preview for spoon_yellow_block_bowl independent spoon 400 2025-06-05 Download
32 take_out_reel_clear_zip_bag Preview for take_out_reel_clear_zip_bag Asynchronous Bimanual take 60 2024-10-30 Download
90 tape_closed_cardboard Preview for tape_closed_cardboard Asynchronous Bimanual tape 100 2025-02-21 Download
95 turn_towel_over Preview for turn_towel_over Synchronous Bimanual turn 100 2025-03-19 Download
65 wipe_the_desk_with_a_blue_cloth Preview for wipe_the_desk_with_a_blue_cloth independent wipe 50 2025-01-21 Download
71 wipe_the_desk_with_a_sponge Preview for wipe_the_desk_with_a_sponge independent wipe 50 2025-01-22 Download
64 wipe_the_desk_with_a_yellow_cloth Preview for wipe_the_desk_with_a_yellow_cloth independent wipe 50 2025-01-21 Download
63 wipe_the_desk_with_an_orange_cloth Preview for 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},
}