---
license: apache-2.0
tags: [LeRobot, aloha, act, isr, trajectory-resampling]
task_categories: [robotics]
---
# aloha_transfer_cube_raw — ALOHA transfer-cube human demos, **raw** frame selection

Derived from [lerobot/aloha_sim_transfer_cube_human](https://huggingface.co/datasets/lerobot/aloha_sim_transfer_cube_human) (50 human teleop episodes, 50 Hz, 14-D, top cam 480×640). Frame selection: all 20,000 frames (100 %). Re-stamped on a uniform 50 fps grid, **state/action in degrees** (convert rad↔deg at deployment), LeRobot v3.0, task string "Pick up the cube with the right arm and transfer it to the left arm.".

Part of the ISR closed-loop study: results, code, checkpoints and the other arms in [Kavin60606/isr-aloha-transfer-cube-experiment](https://huggingface.co/datasets/Kavin60606/isr-aloha-transfer-cube-experiment). Kept-frame indices per episode: `keeps/aloha_transfer_cube_raw/ep*.npy` there.