# ALOHA sim datasets (lerobot/aloha_sim_*)

From the catalogue. Listed by one researcher from one source page.

- id: `aloha-sim-datasets-lerobot-aloha-sim`
- kind: real manipulation scripted or autonomous, teleop
- robot or device: ALOHA bimanual arms in simulation (class: simulation)
- how collected: human variants teleoperated in sim; scripted variants are scripted, not teleop
- size as stated: 50 episodes per repo (transfer cube and insertion, human and scripted)
- hours: 0.1 | hours only claimed: none | episodes: 50
- year: 2023
- organisation: Stanford (ACT), mirrored by LeRobot
- licence: MIT (class: open)
- access: open (class: open)
- link (dataset): https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human
- Hugging Face repository: `lerobot/aloha_sim_transfer_cube_human`, 39,348 downloads in 30 days, https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human
- other names: lerobot/aloha_sim_transfer_cube_human + aloha_sim_insertion_human
- note: Check the suffix. _scripted repos are not human data.

Confirm the licence at the link before relying on it.