gym-av-aloha

Gym environment for AV-ALOHA simulation experiments.

AV ALOHA Simulation Datasets

Dataset	Eye Data	Episodes	Visualization
AV ALOHA Sim Peg Insertion	✅	100	View
AV ALOHA Sim Cube Transfer	✅	200	View
AV ALOHA Sim Thread Needle	✅	200	View
AV ALOHA Sim Pour Test Tube	✅	100	View
AV ALOHA Sim Hook Package	✅	100	View
AV ALOHA Sim Slot Insertion	✅	100	View

Data Collection

Installation

Clone the repository and install the package in editable mode:

git clone https://github.com/Soltanilara/gym_av_aloha.git 
pip install -e ./gym_av_aloha

Install additional dependencies:

pip install asyncio numba google-cloud-firestore
pip install git+https://github.com/huggingface/lerobot.git@483be9aac217c2d8ef16982490f22b2ad091ab46
pip install git+https://github.com/ian-chuang/aiortc.git@91cdb627b2510dba80786f9236277f103617c87a

Configuration

Add the following files to gym_av_aloha/vr/:

• serviceAccountKey.json (for Firebase authentication)
• signalingSettings.json (for WebRTC signaling configuration)

Available Environments

• peg-insertion-v1
• cube-transfer-v1
• color-cubes-v1
• thread-needle-v1
• hook-package-v1
• pour-test-tube-v1
• slot-insertion-v1

Example: Recording Simulation Episodes

Navigate to the scripts/ directory:

cd gym_av_aloha/scripts

Run the recording script:

python record_sim_episodes.py \
    --env_name hook-package-v1 \
    --num-episodes 100 \
    --repo-id iantc104/av_aloha_sim_hook_package \
    --root outputs \
    --task "hook package"