# 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](https://datasets.gurasees.com/datasets/lerobot/aloha_sim_insertion_human.md) | ALOHA | bimanual | recording | 50 | 0.1 | open | 39,374 |
| [lerobot/aloha_sim_transfer_cube_human](https://datasets.gurasees.com/datasets/lerobot/aloha_sim_transfer_cube_human.md) | ALOHA | bimanual | recording | 50 | 0.1 | open | 39,348 |
| [lerobot/aloha_sim_transfer_cube_scripted](https://datasets.gurasees.com/datasets/lerobot/aloha_sim_transfer_cube_scripted.md) | ALOHA | bimanual | recording | 50 | 0.1 | open | 19,864 |
| [lerobot/aloha_sim_insertion_human_image](https://datasets.gurasees.com/datasets/lerobot/aloha_sim_insertion_human_image.md) | ALOHA | bimanual | recording | 50 | 0.1 | open | 9,244 |
| [lerobot/aloha_sim_insertion_scripted_image](https://datasets.gurasees.com/datasets/lerobot/aloha_sim_insertion_scripted_image.md) | ALOHA | bimanual | recording | 50 | 0.1 | open | 7,648 |
| [lerobot/aloha_sim_transfer_cube_human_image](https://datasets.gurasees.com/datasets/lerobot/aloha_sim_transfer_cube_human_image.md) | ALOHA | bimanual | recording | 50 | 0.1 | open | 6,723 |

Confirm the licence at the link before relying on it.