Datasets:

THULab
/

aloha_static_towel

A bimanual manipulation dataset recorded on a static ALOHA setup (robot_type = aloha). Each episode is a demonstration of the single task "Pick up a piece of paper towel and place it on ...", capturing the synchronized joint states, joint efforts, and commanded actions of both arms.

Episodes: 50 demonstrations of one task.
Frames: 25,000 timesteps total, recorded at 50 fps.
Robot: ALOHA bimanual (two 7-DoF arms — 6 joints + gripper per arm).
Source format: LeRobot v3.0.

Schema (TsFile structure)

Time (INT64, milliseconds) — per-frame timestamp, restarts at 0 for each episode (round(timestamp * 1000); 20 ms apart at 50 fps).
episode_index (TAG) — demonstration id (0–49). Query a single episode with WHERE episode_index=0.
task_index (TAG) — task id (always 0; the dataset has one task).
frame_index (FIELD, INT64) — frame number within the episode.
sample_index (FIELD, INT64) — the source global index column.
next_done (FIELD, BOOLEAN) — episode-termination flag for the frame.
observation_state_0 .. observation_state_13 (FIELD, FLOAT) — measured joint positions.
observation_effort_0 .. observation_effort_13 (FIELD, FLOAT) — measured joint efforts.
action_0 .. action_13 (FIELD, FLOAT) — commanded joint targets.

The 14 channels of each vector are the bimanual ALOHA joint set, in order: left_waist, left_shoulder, left_elbow, left_forearm_roll, left_wrist_angle, left_wrist_rotate, left_gripper, right_waist, right_shoulder, right_elbow, right_forearm_roll, right_wrist_angle, right_wrist_rotate, right_gripper.

The source timestamp column is dropped because it equals Time / 1000. Camera videos are not included in this repository (see below).

Usage

Read the .tsfile file with the Apache TsFile Java or Python SDK.

# pip install tsfile
from tsfile import TsFileReader
reader = TsFileReader("data/aloha_static_towel.tsfile")
# query one episode: WHERE episode_index=0

Videos

The original dataset records four camera streams per episode (observation.images.cam_high, cam_low, cam_left_wrist, cam_right_wrist). These MP4 videos are not included here — they are not time-series data. Retrieve them from the original dataset under lerobot/aloha_static_towel/videos.

Source & license

Original dataset: https://huggingface.co/datasets/lerobot/aloha_static_towel
Author / publisher: LeRobot (Hugging Face)
License: Apache-2.0 (inherited from the original dataset)

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