# physical-intelligence/aloha_pen_uncap_diverse

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

- id: `physical-intelligence-aloha-pen-uncap-diverse`
- kind: teleop
- robot or device: aloha (class: bimanual)
- how collected: LeRobot v2.0 recording
- size as stated: 123 episodes; 0.2 hours
- hours: 0.2 | hours only claimed: none | episodes: 123
- year: 2025
- organisation: physical-intelligence
- licence: apache-2.0 (class: open)
- access: open (class: open)
- link (dataset): https://huggingface.co/datasets/physical-intelligence/aloha_pen_uncap_diverse
- Hugging Face repository: `physical-intelligence/aloha_pen_uncap_diverse`, 1,105 downloads in 30 days, https://huggingface.co/datasets/physical-intelligence/aloha_pen_uncap_diverse
- note: This dataset is a lerobot conversion of the aloha_pen_uncap_diverse subset of BiPlay. BiPlay contains 9.7 hours of bimanual data collected with an aloha robot at the RAIL lab @ UC ...
- download links of one episode: https://datasets.gurasees.com/episodes/physical-intelligence/aloha_pen_uncap_diverse.md?episode=0

Confirm the licence at the link before relying on it.