Datasets:

THULab
/

aloha_sim_transfer_cube_human

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.

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
Author / publisher: LeRobot team / ALOHA
Paper: arXiv:2304.13705
License: mit