Datasets:

HoyerChou
/

BiDemoSyn-Data

[Task ⓵ grid cells 6×6] plugpen (2 objects / 1944 demos)	[Task ⓶ grid cells 6×6] inserting (2 objects / 3888 demos)	[Task ⓷ grid cells 12×12] unscrew (1 object / 576 demos)

[Task ⓸ grid cells 6×6] pouring (2 objects / 2592 demos)	[Task ⓹ grid cells 6×6] pressing (2 objects / 1296 demos)	[Task ⓺ grid cells 6×6] reorient (1 object / 720 demos)

✅️ Data Format

For bimanual tasks (including plugpen, inserting, pouring and pressing) which have two manipulated objects, each demonstration has 9 corresponding files: {TaskObjStr}-imgL_mask_arr.json, {TaskObjStr}-imgL_mask_{ObjA}.jpg, {TaskObjStr}-imgL_mask_{ObjB}.jpg, {TaskObjStr}-imgL_raw.jpg, {TaskObjStr}-imgR_mask_arr.json, {TaskObjStr}-imgR_mask_{ObjA}.jpg, {TaskObjStr}-imgR_mask_{ObjB}.jpg, {TaskObjStr}-imgR_raw.jpg, {TaskObjStr}-labels.json.
- {TaskObjStr} is a long string which is combined via task-related object names, orientations and positions. An example for the task inserting is ordcup01-marker02_orient01-LcupX01Y01-RpenX04Y01, which means that the left part is a cup and the right part is a marker pen with orientation id1. The X01Y01 and X04Y01 represent their coordinates in the defined grid cells.
- File {TaskObjStr}-imgL_mask_arr.json is a Dict, which uses the object's name as the key and object's [bbox, mask] as the value (from left image).
- Files {TaskObjStr}-imgL_mask_{ObjA}.jpg and {TaskObjStr}-imgL_mask_{ObjB}.jpg are two binary masks of manipulated objects (from left image).
- File {TaskObjStr}-imgL_raw.jpg is a original image of the left view from the binocular camera.
- File {TaskObjStr}-imgR_mask_arr.json is a Dict, which are results processed from the right image.
- Files {TaskObjStr}-imgR_mask_{ObjA}.jpg and {TaskObjStr}-imgR_mask_{ObjB}.jpg are two binary masks of manipulated objects (from right image).
- File {TaskObjStr}-imgR_raw.jpg is a original image of the right view from the binocular camera.
- File {TaskObjStr}-labels.json is a Dict, which contains sparse 7-DoF keyposes/keyframes (the value under each key is a list [position_x, position_y, position_z, rotation_x, rotation_y, rotation_y, gripper]) of the left-arm and right-arm asynchronously.
For bimanual (including unscrew and reorient) which have only one manipulated object, each demonstration has 7 corresponding files: {TaskObjStr}-imgL_mask_arr.json, {TaskObjStr}-imgL_mask_{Obj}.jpg, {TaskObjStr}-imgL_raw.jpg, {TaskObjStr}-imgR_mask_arr.json, {TaskObjStr}-imgR_mask_{Obj}.jpg, {TaskObjStr}-imgR_raw.jpg, {TaskObjStr}-labels.json.
- {TaskObjStr} is also a long string which is combined via task-related object names, orientations and positions. An example for the task unscrew is bottle03_orient01_p1-LRbottleX01Y01, which means that the platform has only one bottle every time. The X01Y01 represents its coordinates in the defined grid cells.
- These 7 files have the same format as above mentioned. The two missing files comparing to 9 are due to the absence of an object mask in the left and right images, respectively.

✅️ Citation

If you use our data in your research, please cite with:

@article{zhou2025one,
    title={One-Shot Real-World Demonstration Synthesis for Scalable Bimanual Manipulation},
    author={Huayi Zhou, Kui Jia},
    journal={arXiv preprint arXiv:2512.09297},
    year={2025}
}