Datasets:
| license: mit | |
| task_categories: | |
| - robotics | |
| tags: | |
| - robotics | |
| - LeRobot | |
| - aloha | |
| - tsfile | |
| - format:tsfile | |
| - timeseries | |
| pretty_name: aloha_sim_transfer_cube_human | |
| size_categories: | |
| - 10K<n<100K | |
| # aloha_sim_transfer_cube_human (TsFile) | |
| Apache TsFile version of the LeRobot dataset | |
| [`lerobot/aloha_sim_transfer_cube_human`](https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human). | |
| ## Overview | |
| ALOHA simulated bimanual transfer-cube manipulation demonstrations. | |
| - **Robot:** ALOHA (simulated) | |
| - **Episodes:** 50 | |
| - **Frames:** 20,000 | |
| - **Sampling rate:** 50 fps | |
| - **Tasks:** 1 | |
| ## Schema (TsFile structure) | |
| - **Time** (INT64, milliseconds) — `round(timestamp * 1000)`, restarting per episode. | |
| - **episode_index / task_index** (TAG) — the device dimension. Query a single episode with | |
| `WHERE episode_index=N`. | |
| - **FIELD** — `frame_index`, `sample_index`, and the flattened state/action vectors | |
| (`observation_state_0..13`, `action_0..13`) as single-precision FLOAT. | |
| The robot's camera video streams are time-series-irrelevant and **not uploaded** to this repository; | |
| get them from the original dataset (its `videos/` directory). The source `meta/` is mirrored here. | |
| ## Usage | |
| Read the `.tsfile` files with the Apache TsFile Java or Python SDK. | |
| ## Source & license | |
| - Original dataset: [`lerobot/aloha_sim_transfer_cube_human`](https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human) | |
| - Author / publisher: LeRobot team / ALOHA | |
| - Paper: arXiv:2304.13705 | |
| - License: mit | |