---
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