AIST Bimanual Manipulation Dataset Downloader

Data loader/downloader for the AIST BiManiP dataset on the official site below. It reads a CSV of Dropbox links and downloads the dataset files in parallel with resume support.

https://aistairc.github.io/aist_bimanip_site/

Files

• downloader.py: main script
• hdf5_links.csv: list of Dropbox URLs for HDF5 files
• downloads/: download destination (ignored by git)

Requirements

• Python 3.8+
• Python packages: requests, tqdm

Install packages:

pip install requests tqdm

Usage

1. Put Dropbox links in hdf5_links.csv (one per line or CSV column).
2. Run the script:

git clone https://github.com/aistairc/aist_bimanip_downloader.git
cd aist_bimanip_downloader
python3 downloader.py hdf5_links.csv

Downloaded files will be saved under downloads/.

~/aist_bimanip_downloader $ python downloader.py hdf5_links.csv 
📋 Reading links from: hdf5_links.csv
🔗 Found 117 files to download
📁 Output directory: downloads
⏳ Downloading 117 pending files...
🔄 Using 3 parallel workers
📏 Checking file sizes...
📥 place_tape_roll_case.zip:   7%|███▌                                                 | 158M/2.34G [00:06<01:32, 23.6MB/s]
📥 wipe_the_desk_with_a_sponge.zip:   5%|██▎                                           | 154M/3.04G [00:05<01:59, 24.1MB/s]
📥 wipe_the_desk_with_a_blue_cloth.zip:   4%|█▋                                        | 127M/3.12G [00:05<01:58, 25.3MB/s]
...

Dropbox shared folders (LeRobot)

If a CSV contains Dropbox shared folder links (e.g. lerobot_links.csv), the downloader will fetch the folder as a zip and extract it into downloads/<folder_name>/ by default.

Options:

# Download folder zips only (no extraction)
python3 downloader.py lerobot_links.csv --no-extract-folders

# Keep folder zip files after extraction
python3 downloader.py lerobot_links.csv --keep-folder-zips

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},
}