ALOHA bimanual
Robot
A low-cost two-arm teleoperation rig from Stanford. Its simulated tasks are the standard starting point for bimanual policies such as ACT.
Documented repos
Repos whose upstream documentation covers the ALOHA bimanual. Others may work too.
Models 1
- lerobot/act_aloha_sim_transfer_cube_human
An Action Chunking Transformer policy trained in LeRobot on human demonstrations of the simulated ALOHA bimanual cube-transfer task.
Datasets 1
- lerobot/aloha_sim_transfer_cube_human
Fifty human-teleoperated simulated episodes of a two-arm ALOHA robot handing a cube from one gripper to the other, recorded at 50 fps.