Fifty real pick-and-place episodes from a low-cost SO-100/SO-101-class arm, recorded at 30 fps with a side camera and a top-down camera, and used as the SmolVLA fine-tuning example.
lerobot/aloha_sim_transfer_cube_human
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Fifty human-teleoperated simulated episodes of a two-arm ALOHA robot handing a cube from one gripper to the other, recorded at 50 fps.
Why it matters for physical AI
It is the standard starter set for learning bimanual policies such as ACT without owning a two-arm rig.
Summary written by FrontierOS in our own words. The upstream card and license govern use. Metadata checked 27 Sep 2026. Read the full card on Hugging Face
Files, weights and version history live on Hugging Face. FrontierOS indexes this repo; it does not host or mirror it.
hf download lerobot/aloha_sim_transfer_cube_human --repo-type datasetUses the Hugging Face CLI (pip install -U huggingface_hub). This downloads the whole repo; add --include "<pattern>" to fetch only the files you need.
More robot demonstrations
Browse allA filtered collection of 128 SO-100 datasets from 55 community contributors (about 11k episodes and 5.1M frames), with hand-cleaned task descriptions, released as the pretraining subset for SmolVLA.
About 200 human demonstrations in a 2D simulation where a round pusher slides a T-shaped block onto a target outline, stored in LeRobot v3 format.