---
license: apache-2.0
task_categories:
- robotics
tags:
- LeRobot
- mobile_aloha
- imitation-learning
configs:
- config_name: default
  data_files: data/*/*.parquet
---

# aloha_incontext

A paper-consistent reorganization of
[`vo2yager/aloha_data_unique`](https://huggingface.co/datasets/vo2yager/aloha_data_unique),
whose task list matches the ContextFlow paper in both training and testing.

**1,349 episodes / 31 task configurations / 595,900 frames** — 25 seen configurations
(1,318 episodes) and 6 unseen configurations (31 episodes).

Mobile ALOHA, bimanual 14-DoF, 3 RGB cameras (`cam_high`, `cam_left_wrist`,
`cam_right_wrist`) at 480×640, 50 fps. `action` is 16-D (14 joint targets + 2 base velocity
dimensions); `observation.state` is 14-D.

## Relationship to `aloha_data_unique`

This is a **regrouping**, not new data. Every episode is copied from the source release with
its sensor data untouched — the image columns are byte-identical, verified by round-trip
comparison. Only the three bookkeeping columns (`episode_index`, `task_index`, and the global
row counter `index`) are rewritten, because episodes are renumbered and tasks are merged.

Three changes relative to the source's 49 tasks:

1. **Merges** — scene batches of one configuration become one task:
   `pen_uncap_gray_left_b5` + `_b9` → 143 episodes; `pen_uncap_red_left_b9` + `_b5` → 69;
   `handover_b9` + `handover_b5` → 104.
2. **Drops** — 15 tasks / 138 episodes absent from the paper in both training and testing:
   the four `separate_cups` tasks (100), `pen_uncap_blue_left_b5` (25), and 10 single-demo
   pick-and-place tasks (13).
3. **Renaming** — task strings are natural-language instructions rather than folder names.

## Hand-naming convention (important)

Pen-uncap task names here follow the **paper's** convention, where `<left>`/`<right>` names
the hand that **picks up** the pen. The source release's folder names use the mirror
convention, naming the hand that **uncaps**. So the hand label is flipped relative to
`aloha_data_unique`:

| This dataset | Source task | Episodes |
| --- | --- | ---: |
| `...gray pen with the right hand...` | `pen_uncap_gray_left_b5` + `_b9` | 143 |
| `...gray pen with the left hand...` | `pen_uncap_gray_right_b5` | 51 |
| `...red pen with the right hand...` | `pen_uncap_red_left_b9` + `_b5` | 69 |
| `...blue pen with the left hand...` | `pen_uncap_blue_right_b5` | 25 |
| `...second blue pen with the right hand...` | `pen_uncap_blue2_left_b5` | 25 |
| `...second blue pen with the left hand...` | `pen_uncap_blue2_right_b5` | 25 |
| `...red pen with the left hand...` *(unseen)* | `pen_uncap_red_right_b5` | 22 |

Pick-and-place hand labels are **not** flipped — the two conventions agree there.

The four extra bimanual configurations (`handover`, `cup_stack`, `stir`, `water_wipe`) keep
short folder-style names, as no instruction template for them appears in the paper.

## Splits

The dataset ships as a single `train` split; the seen/unseen division is by **task name**.
The 6 unseen configurations are:

```
Pick up the pear and place it in the basket with the left hand.
Pick up the orange juice and place it in the basket with the left hand.
Pick up the kiwi and place it in the basket with the right hand.
Pick up the banana and place it in the basket with the right hand.
Pick up the red pen with the left hand, grasp the cap with the other hand and uncap it.
Pick up the red egg with the right hand, place it in the box, and close the box.
```

Excluding those leaves exactly the **1,318** training episodes the paper reports.

## Notes

- `meta/stats.json` numeric features are recomputed over these 1,349 episodes. The
  per-channel **image** statistics are carried over from the source release unchanged.
- Models trained on `aloha_data_unique` are not directly comparable: the training
  distribution and normalization statistics both differ.