# ALOHA simulation datasets (ACT)

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

- id: `aloha-simulation-datasets-act`
- kind: teleop
- robot or device: ALOHA bimanual arms in MuJoCo (class: bimanual)
- how collected: real ALOHA leader arms control the simulated robot; scripted variants also released
- size as stated: 50 human demos each for Transfer Cube and Insertion; 50 scripted each
- hours: 0.1 | hours only claimed: none | episodes: 50
- year: 2023
- organisation: Stanford (Zhao et al.); LeRobot Hub mirror
- licence: MIT (class: open)
- access: open (class: open)
- link (dataset): https://huggingface.co/datasets/lerobot/aloha_sim_insertion_human
- Hugging Face repository: `lerobot/aloha_sim_insertion_human`, 39,374 downloads in 30 days, https://huggingface.co/datasets/lerobot/aloha_sim_insertion_human
- note: Use the _human repos; _scripted repos are not teleop.

Confirm the licence at the link before relying on it.