Warning

You are viewing the documentation for a version of the Interbotix ALOHA stack that is no longer supported. Please upgrade to keep up to date with the latest features. See the v2.0 documentation for more information.

ALOHA

What’s Here

• Specifications - Specifications for the ALOHA, Mobile ALOHA and related hardware.
• Getting Started - Guides to walk you through the process of setting up your ALOHA and Mobile ALOHA kits.
• Operation - Guides demonstrating usage of the ALOHA platforms.
• Troubleshooting - Small guides to walk users through possible issues that may occur when using the ALOHA kits.

Table of Contents

• Specifications
  • Aloha Stationary
    • Stationary Packing List
    • Stationary Specifications
    • Stationary Technical Drawing
  • Aloha Mobile
    • Mobile Packing List
    • Mobile Specifications
    • Mobile Technical Drawing
  • ALOHA Pre-configured Laptop
• Getting Started
  • Mobile ALOHA Getting Started
    • Mobile ALOHA Hardware Setup
    • Mobile ALOHA Software Setup
    • Pairing Your Controller
  • Stationary ALOHA Getting Started
    • Stationary ALOHA Hardware Setup
    • Stationary ALOHA Software Setup
• Operation
  • Bringup & Shutdown
    • Bringup
    • Shutdown
    • What’s Next?
    • Configurations
  • Mobile Operation
    • Teleoperation
    • Joystick Base Teleoperation
    • What’s Next?
  • Stationary Operation
    • Teleoperation
    • What’s Next?
  • Data Collection
    • Task Creation
    • Recording Episodes
    • Episode Playback
    • Episode Auto-Recording
    • Dataset Format
    • What’s Next?
  • Training and Evaluation Guide
    • Setup and Environment
    • ACT Workflow (Aloha Stationary)
    • ACT++ Workflow (Aloha Mobile)
    • Major Differences Between ACT and ACT++
  • Hugging Face Guide
    • Uploading and Downloading Datasets on Hugging Face
  • LeRobot X Aloha User Guide
    • Setting up Conda Environment
    • Clone Repository
    • Build and Install LeRobot Models
    • Teleoperation
    • Recording Data Episodes
    • Visualizing Datasets
    • Replay Recorded Episodes
    • Training
    • Upload Policy Checkpoints
    • Google Colab for Training
    • Evaluation
    • Trossen Robotics Community
    • Troubleshooting
  • Gravity Compensation
• Troubleshooting
  • X-Series Arms
  • SLATE Base
  • Device Connection Issues
    • USB Hubs