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license: cc |
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# ALOHA-Cosmos-Policy |
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## Dataset Description |
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ALOHA-Cosmos-Policy is a real-world bimanual manipulation dataset collected on the ALOHA 2 robot platform as part of the Cosmos Policy project. This is the dataset used to train the [Cosmos-Policy-ALOHA-Predict2-2B](https://huggingface.co/nvidia/Cosmos-Policy-ALOHA-Predict2-2B) checkpoint. |
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### Dataset Characteristics |
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- **Robot platform**: ALOHA 2 (bimanual setup with two ViperX 300 S robot arms) |
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- **Data type**: Real-world human-teleoperated demonstrations |
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- **Control frequency**: 25 Hz (reduced from the original 50 Hz to save disk space and increase training speed while maintaining smoothness) |
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- **Camera views**: 3 (1 top-down + 2 wrist-mounted) |
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- **Total demonstrations**: 185 successful demonstrations across 4 tasks |
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- **Data format**: HDF5 files with MP4 video compression for image observations |
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- **Image resolution**: 256×256 pixels (resized from the original 480×640 raw images) |
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### Preprocessing |
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This dataset has been preprocessed from the raw ALOHA teleoperation data with the following modifications: |
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1. **Image resizing**: Camera images resized from 480×640 to 256×256 pixels |
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2. **Video compression**: Image sequences converted to MP4 videos (25 fps) for efficient storage |
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3. **Relative actions**: Computed and stored alongside absolute actions for policy training flexibility (though only absolute actions are used in the Cosmos Policy paper) |
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### Tasks and Demonstrations |
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| Task | # Demos | Description | |
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|------|---------|-------------| |
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| put X on plate | 80 | Place objects (purple eggplant or brown chicken wing) on a plate based on language instructions | |
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| fold shirt | 15 | Fold one of three T-shirts in multiple steps, testing long-horizon contact-rich manipulation | |
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| put candies in bowl | 45 | Collect scattered candies, testing ability to handle multimodal grasp sequences | |
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| put candy in ziploc bag | 45 | Open and place items in a ziploc slider bag, testing high-precision manipulation with millimeter tolerance | |
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### Data Format |
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Each episode HDF5 file contains: |
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``` |
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# Datasets (arrays) |
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/observations/qpos # Joint positions, shape: (T, 14) |
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/observations/qvel # Joint velocities, shape: (T, 14) |
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/observations/effort # Joint efforts/torques, shape: (T, 14) |
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/observations/video_paths/ # Video file paths (strings) |
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cam_high # Relative path to top-down camera MP4 |
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cam_left_wrist # Relative path to left wrist camera MP4 |
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cam_right_wrist # Relative path to right wrist camera MP4 |
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/action # Absolute action sequence, shape: (T, 14) |
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/relative_action # Relative action sequence (frame-to-frame deltas), shape: (T, 14) |
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``` |
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### Statistics |
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- **Total demonstrations**: 185 |
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- **Success rate**: 100% (only successful demonstrations included) |
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- **Image resolution**: 256×256×3 (RGB, resized from 480×640) |
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- **Action dimensions**: 14 (7 per arm: joint positions) |
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- **Proprioception dimensions**: 14 (7 joint angles per arm) |
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- **Control frequency**: 25 Hz |
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- **Video FPS**: 25 fps |
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### ALOHA Robot Platform |
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This dataset was collected using a robot setup similar to the ALOHA 2 system: |
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- **Paper**: [ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation](https://aloha-2.github.io/) |
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- **Repository**: https://github.com/tonyzhaozh/aloha/tree/main/aloha2 |
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- **Hardware**: Two ViperX 300 S robot arms with three cameras |
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- **License**: MIT License |
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### Citation |
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If you use this dataset, please cite the Cosmos Policy paper by Kim et al. |
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<!-- ```bibtex |
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# TODO: Add Cosmos Policy BibTeX |
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``` --> |
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### License |
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Creative Commons Attribution 4.0 International (CC BY 4.0) |