Datasets/ALOHA Configuration - Home Tasks

ALOHA Configuration - Home Tasks

700 hours of dual-arm teleoperation data covering bedroom, kitchen, and living room scenarios. Includes synchronized multi-camera RGB observations, high-frequency joint position data, and end-effector pose tracking.

RGBcommercialFeatured
Dataset Size
350GB
Episodes4,200
Total Frames252,000
Cameras3
Data Size350GB
FormatLeRobot, HDF5, MCAP

What's Included

4,200 episodes of successful task execution
252,000 synchronized frames across 3 cameras
Master arm teleoperation signals (8-DOF joint positions)
Puppet arm execution data (8-DOF joint positions)
End-effector 6D poses (XYZ position + RPY orientation)
Frame-accurate timestamps
Episode metadata and task descriptions
Data loading utilities (LeRobot, HDF5, MCAP formats)

Use Cases

Imitation Learning
Train policies from expert demonstrations
Behavioral Cloning
Learn manipulation skills end-to-end
Reinforcement Learning
Use as offline dataset for policy initialization
Sim-to-Real Transfer
Validate simulation models against real data
Multi-Modal Learning
Leverage synchronized camera views
Benchmark Testing
Evaluate manipulation algorithms

Why trust this dataset?

Provenance, QA, and compliance details for the dataset above — what was captured, by whom, on what hardware, under what license, and what we explicitly do not claim.

Collection hardware
3-camera rig at 20 Hz, 640x480 per camera. 8-DOF aloha platform with 6-D end-effector pose tracking.
Operators
Trained SignIQ teleop operators (multi-operator capture per dataset). Sub-20ms teleop latency with haptic feedback.
Environment
3 scenarios: bedroom, kitchen, living-room.
Annotation policy
Operator-written task instructions, hindsight VLM captions, reviewed subtask spans. Outcome (success/failure) labeled per episode.
QA checks
12-check automated pipeline before delivery: schema validity, timestamp monotonicity, sync drift (<5 ms), no NaN/Inf, joint-limit compliance, calibration provenance, language presence, outcome label, format export, and more.
Sensor coverage
RGB; JPEG for images.
License
commercial delivery. Custom commercial terms available for redistribution, fine-tuning, and on-prem caching.
Privacy & consent
Operators are SignIQ staff under explicit recording consent. Faces in any incidental human capture are blurred; PII is reviewed before release.
Format validation
LeRobot, HDF5, MCAP. Each export passes a per-format validator (LeRobot info.json, GR00T modality.json, HDF5 schema, MCAP channel coverage) before bundling.
Known limitations
Single facility / lighting profile per dataset. No depth or tactile streams unless explicitly listed. Episode count and scenario coverage are advertised, not extrapolated &mdash; if you need broader coverage, ask about a custom run.