ALOHA sim (ACT) datasets
From the catalogue. Listed by one researcher from one source page.
- id:
aloha-sim-act-datasets - kind: real manipulation scripted or autonomous, synthetic or generated
- robot or device: bimanual ALOHA in MuJoCo (class: bimanual)
- how collected: scripted policy and human teleop variants
- size as stated: 50 episodes per set (20,000 to 25,000 frames); insertion and transfer cube, scripted and human
- hours: not stated | hours only claimed: none | episodes: 50
- year: 2023
- organisation: Stanford (ACT), LeRobot conversion
- licence: mit (class: open)
- access: open (class: open)
- link (dataset): https://huggingface.co/datasets/lerobot/aloha_sim_insertion_scripted
- Hugging Face repository:
lerobot/aloha_sim_insertion_scripted, 32,711 downloads in 30 days, https://huggingface.co/datasets/lerobot/aloha_sim_insertion_scripted - other names: lerobot/aloha_sim_transfer_cube_scripted + aloha_sim_insertion_scripted
- note: Four base repos plus image variants under lerobot.
Copies and ports on the Hugging Face Hub
Uploads whose name carries this dataset's name, most downloaded first. Each has its own licence, which can differ from the original's.
| repository | robot | class | kind | episodes | hours | licence | downloads (30 d) |
|---|---|---|---|---|---|---|---|
| lerobot/aloha_sim_insertion_human | ALOHA | bimanual | recording | 50 | 0.1 | open | 39,374 |
| lerobot/aloha_sim_transfer_cube_human | ALOHA | bimanual | recording | 50 | 0.1 | open | 39,348 |
| lerobot/aloha_sim_transfer_cube_scripted | ALOHA | bimanual | recording | 50 | 0.1 | open | 19,864 |
| lerobot/aloha_sim_insertion_human_image | ALOHA | bimanual | recording | 50 | 0.1 | open | 9,244 |
| lerobot/aloha_sim_insertion_scripted_image | ALOHA | bimanual | recording | 50 | 0.1 | open | 7,648 |
| lerobot/aloha_sim_transfer_cube_human_image | ALOHA | bimanual | recording | 50 | 0.1 | open | 6,723 |
Confirm the licence at the link before relying on it.