Datasets:
File size: 1,515 Bytes
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license: mit
task_categories:
- robotics
tags:
- robotics
- LeRobot
- aloha
- tsfile
- format:tsfile
- timeseries
pretty_name: aloha_sim_transfer_cube_human
size_categories:
- 10K<n<100K
---
# aloha_sim_transfer_cube_human (TsFile)
Apache TsFile version of the LeRobot dataset
[`lerobot/aloha_sim_transfer_cube_human`](https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human).
## Overview
ALOHA simulated bimanual transfer-cube manipulation demonstrations.
- **Robot:** ALOHA (simulated)
- **Episodes:** 50
- **Frames:** 20,000
- **Sampling rate:** 50 fps
- **Tasks:** 1
## Schema (TsFile structure)
- **Time** (INT64, milliseconds) — `round(timestamp * 1000)`, restarting per episode.
- **episode_index / task_index** (TAG) — the device dimension. Query a single episode with
`WHERE episode_index=N`.
- **FIELD** — `frame_index`, `sample_index`, and the flattened state/action vectors
(`observation_state_0..13`, `action_0..13`) as single-precision FLOAT.
The robot's camera video streams are time-series-irrelevant and **not uploaded** to this repository;
get them from the original dataset (its `videos/` directory). The source `meta/` is mirrored here.
## Usage
Read the `.tsfile` files with the Apache TsFile Java or Python SDK.
## Source & license
- Original dataset: [`lerobot/aloha_sim_transfer_cube_human`](https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human)
- Author / publisher: LeRobot team / ALOHA
- Paper: arXiv:2304.13705
- License: mit
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