| --- |
| license: mit |
| task_categories: |
| - robotics |
| tags: |
| - timeseries |
| - tsfile |
| - time-series |
| - robotics |
| - LeRobot |
| pretty_name: aloha_sim_transfer_cube_human |
| --- |
| |
| # 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 |
|
|
