ALOHA-Cosmos-Policy

Dataset Description

ALOHA-Cosmos-Policy is a real-world bimanual manipulation dataset collected on the ALOHA 2 robot platform as part of the Cosmos Policy project. This is the dataset used to train the Cosmos-Policy-ALOHA-Predict2-2B checkpoint.

Dataset Characteristics

• Robot platform: ALOHA 2 (bimanual setup with two ViperX 300 S robot arms)
• Data type: Real-world human-teleoperated demonstrations
• Control frequency: 25 Hz (reduced from the original 50 Hz to save disk space and increase training speed while maintaining smoothness)
• Camera views: 3 (1 top-down + 2 wrist-mounted)
• Total demonstrations: 185 successful demonstrations across 4 tasks
• Data format: HDF5 files with MP4 video compression for image observations
• Image resolution: 256×256 pixels (resized from the original 480×640 raw images)

Preprocessing

This dataset has been preprocessed from the raw ALOHA teleoperation data with the following modifications:

1. Image resizing: Camera images resized from 480×640 to 256×256 pixels
2. Video compression: Image sequences converted to MP4 videos (25 fps) for efficient storage
3. Relative actions: Computed and stored alongside absolute actions for policy training flexibility (though only absolute actions are used in the Cosmos Policy paper)

Tasks and Demonstrations

Task	# Demos	Description
put X on plate	80	Place objects (purple eggplant or brown chicken wing) on a plate based on language instructions
fold shirt	15	Fold one of three T-shirts in multiple steps, testing long-horizon contact-rich manipulation
put candies in bowl	45	Collect scattered candies, testing ability to handle multimodal grasp sequences
put candy in ziploc bag	45	Open and place items in a ziploc slider bag, testing high-precision manipulation with millimeter tolerance

Data Format

Each episode HDF5 file contains:

# Datasets (arrays)
/observations/qpos          # Joint positions, shape: (T, 14)
/observations/qvel          # Joint velocities, shape: (T, 14)
/observations/effort        # Joint efforts/torques, shape: (T, 14)
/observations/video_paths/  # Video file paths (strings)
    cam_high               # Relative path to top-down camera MP4
    cam_left_wrist         # Relative path to left wrist camera MP4
    cam_right_wrist        # Relative path to right wrist camera MP4
/action                     # Absolute action sequence, shape: (T, 14)
/relative_action            # Relative action sequence (frame-to-frame deltas), shape: (T, 14)

Statistics

• Total demonstrations: 185
• Success rate: 100% (only successful demonstrations included)
• Image resolution: 256×256×3 (RGB, resized from 480×640)
• Action dimensions: 14 (7 per arm: joint positions)
• Proprioception dimensions: 14 (7 joint angles per arm)
• Control frequency: 25 Hz
• Video FPS: 25 fps

ALOHA Robot Platform

This dataset was collected using a robot setup similar to the ALOHA 2 system:

• Paper: ALOHA 2: An Enhanced Low-Cost Hardware for Bimanual Teleoperation
• Repository: https://github.com/tonyzhaozh/aloha/tree/main/aloha2
• Hardware: Two ViperX 300 S robot arms with three cameras
• License: MIT License

Citation

If you use this dataset, please cite the Cosmos Policy paper by Kim et al.

License

Creative Commons Attribution 4.0 International (CC BY 4.0)