thewisp/aloha_sim_selfplay_wide_1k

This dataset was created using LeRobot. Dataset Description 1,000 episodes of scripted self-play in gym-aloha (AlohaInsertion-v0 scene), generated for world-model video pretraining (VLA-JEPA-style teaching of an ACT student). Peg AND socket are spawned over wide ranges every episode (x in [0,0.3]/[-0.3,0], y in [0.35,0.65]). Episodes alternate three scripted Jacobian behaviors: right-arm peg push, left-arm socket push, bimanual reach (84-100% measured contact for push… See the full description on the dataset page: https://huggingface.co/datasets/thewisp/aloha_sim_selfplay_wide_1k.