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

¥500/hour

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