README.md

metadata

tags:
  - lerobot
  - robotics
  - aloha
  - simulation
  - gym_aloha
  - transfer_cube
task_categories:
  - robotics
size_categories:
  - 1K<n<10K

ALOHA Simulation Dataset - Transfer Cube

This dataset was collected from the gym_aloha simulation environment.

Dataset Description

• Environment: gym_aloha/AlohaTransferCube-v0
• Task: Transfer cube from one location to another
• Episodes: 10
• FPS: 50
• Total Frames: 3000

Features

• observation.image: RGB image from top camera (480x640x3)
• observation.state: Robot joint positions (14 dimensions)
• action: Robot actions (14 dimensions)
• episode_index: Episode number
• frame_index: Frame number within episode
• timestamp: Time in seconds

Robot Configuration

The ALOHA robot has 14 degrees of freedom:

• Left arm: 6 joints + 1 gripper
• Right arm: 6 joints + 1 gripper

Usage

from datasets import load_dataset

dataset = load_dataset("nock0912/aloha_sim_cube_dataset")
print(dataset)

Citation

If you use this dataset, please cite the LeRobot project.