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@@ -57,3 +57,108 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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README.md

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

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