Warning

The Interbotix ALOHA stack that has recently been updated to v2.0. See our announcement here 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.
• Training and Evaluation - Comprehensive guides on training models using the ALOHA platforms, covering dataset preparation and policy evaluation.
• Trossen Aloha UI - Guide to using the Trossen ALOHA GUI for intuitive control, data recording, and task management.
• 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 Solo
    • Solo Packing List
    • Solo Specifications
    • Solo Technical Drawing
  • ALOHA Pre-configured Laptop
  • ALOHA Pre-configured Mini PC
• 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
  • Solo ALOHA Getting Started
    • Solo ALOHA Hardware Setup
    • Solo 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?
  • Solo Operation
    • Teleoperation
    • What’s Next?
  • Data Collection
    • Task Creation
    • Recording Episodes
    • Episode Playback
    • Episode Auto-Recording
    • Dataset Format
    • What’s Next?
  • Gravity Compensation
• Training and Evaluation
  • Virtual Environment Setup
    • Virtual Environment Installation and Setup
    • Conda Setup
  • Train and Evaluate
    • Aloha Mobile Training & Evaluation
    • Aloha Stationary Training & Evaluation
    • Aloha Solo Training & Evaluation
  • Hugging Face for Dataset storage
    • Hugging Face Guide
  • LeRobot Guide for Aloha
    • LeRobot X Aloha User Guide
    • LeRobot X Aloha Solo User Guide
    • Troubleshooting
• Trossen Aloha UI
  • Overview
  • Pre-Installation Setup
  • Installation
  • Post-Installation
  • Launching the Application
    • Desktop Application
    • Command Line
  • Application Features
  • Configuration Management
    • Task Configuration
    • Hugging Face Authentication
    • Robot Configuration
  • Hardware Setup
  • License
• Troubleshooting
  • X-Series Arms
  • SLATE Base
  • Device Connection Issues
    • USB Hubs