ALOHA (stationary)
Low-cost open-source bimanual teleoperation rig: two ViperX follower arms, two WidowX leader arms and four cameras. ACT was introduced on it. LeRobot hosts real and simulated ALOHA datasets and ACT checkpoints, but native robot control was removed in 0.4.0. Only a single-arm `viperx` type ever shipped in a release (0.3.2–0.3.3).
open hardware · MIT (ALOHA codebase)LeRobot removed since 0.3.2verified 2026-10-24aka ALOHA, ALOHA 2, Aloha stationary, aloha_static, viperx
Policies on ALOHA (stationary) 9 with evidence · 12 unknown
| Policy | State | Tier | Verified | Detail |
|---|---|---|---|---|
| ACT Imitation | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | LeRobot's built-in `aloha` robot type was removed in the hardware API redesign (PR #777, June 2025) and is not in v0.6.1; the documented LeRobot workflow needs a pre-redesign commit or a third-party driver. |
| Diffusion Policy Imitation | works with caveats | T3 · community reported | 2026-10-24 1d ago | Community-reported only; not documented upstream or maintainer-tested. |
| Evo-1 VLA | partial | T1 · upstream documented | 2026-10-24 1d ago | The upstream Evo-1 repo ships a community-contributed real-ALOHA inference client (ROS1 Noetic, Interbotix); no ALOHA training recipe, checkpoint or on-robot results are documented. |
| OpenVLA-OFT VLA | works | T1 · upstream documented | 2026-10-24 1d ago | Real-robot results use the OFT+ variant (OFT plus FiLM language conditioning) on the original ALOHA (two ViperX 300 S arms, 3 cameras), run at 25 Hz instead of ALOHA's native 50 Hz. |
| OpenVLA VLA | partial | T3 · community reported | 2026-10-25 today | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
| π0-FAST VLA | works with caveats | T1 · upstream documented | 2026-10-24 1d ago | Evidence is Physical Intelligence's own zero-shot evaluation of its generalist π0-FAST on an in-house bimanual Trossen ViperX setup that mirrors ALOHA; openpi ships no π0-FAST ALOHA config or checkpoint. |
| π0 VLA | works | T1 · upstream documented | 2026-10-24 1d ago | openpi's ALOHA checkpoints were fine-tuned on Physical Intelligence's ALOHA data; upstream warns zero-shot use is experimental and recommends fine-tuning π0 on data from the target robot. |
| π0.5 VLA | partial | T1 · upstream documented | 2026-10-24 1d ago | openpi ships π0.5 ALOHA configs (inference config pi05_aloha and fine-tuning config pi05_aloha_pen_uncap on public ALOHA data), but no π0.5 ALOHA checkpoint and no published on-robot ALOHA result. |
| SmolVLA VLA | partial | T3 · community reported | 2026-10-24 1d ago | Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source. |
Not yet verified: EO-1, Fast-WAM, GR00T N1.7, HIL-SERL, LingBot-VA, MolmoAct2, Multitask DiT, TD-MPC, VLA-JEPA, VQ-BeT, WALL-OSS, X-VLA. Have evidence?
Specifications
- Degrees of freedom
- 6 (Per follower arm (ViperX): waist, shoulder, elbow, forearm_roll, wrist_angle, wrist_rotate + gripper. Shoulder and elbow each have a second "shadow" motor, so LeRobot's viperx type drives 9 motors.)src
- Arms
- 2
- Actuators
- Dynamixel XM540-W270 (waist to wrist_angle) and XM430-W350 (wrist_rotate, gripper) on the ViperX followersrc
- Homepage
- tonyzhaozh.github.io/aloha/
- Built-in sensors
- RGB, three or more cameras
- Teleoperation
- Two WidowX leader arms (original ALOHA puppeteering)
in_grid because large public LeRobot-format ALOHA data exists: lerobot/aloha_static_* (15 real-robot datasets listed on the Hub on 2026-10-24) and lerobot/aloha_sim_*. There are also official ACT checkpoints (lerobot/act_aloha_sim_transfer_cube_human, lerobot/act_aloha_sim_insertion_human). Rows for this robot reflect dataset/checkpoint compatibility, not live control in current LeRobot.
Framework support
| Framework | Support | Since | Type string | Docs |
|---|---|---|---|---|
| LeRobot | removed (until 0.3.3)src | 0.3.2 | viperx | — |
| LeRobot: On main a 4-arm `aloha` robot type existed from Sep 2024 (PR #316) until the Hardware API redesign (PR #777, 2025-06-05), but neither landed in a PyPI release. 0.3.2–0.3.3 shipped only the single-arm `viperx` follower (its README still showed the old --robot.type=aloha) plus a `widowx` teleoperator. Both were deprecated in 0.4.0 (PR #2205). LeRobot v0.6.1 has no ALOHA robot type. ALOHA-format datasets and ACT checkpoints remain usable for training. Trossen's lerobot_trossen plugin covers its newer WidowX AI "ALOHA-style" kits (see trossen-widowx), not the original ViperX/WidowX ALOHA. | ||||
Sources
- T1 · upstream documentedrelease-notessource 2025-10-23verified 2026-10-24 (1d ago)lerobot 0.4.0
LeRobot 0.4.0 deprecated the stretch, viperx and widowx devices (viperx/stretch3 dirs absent from v0.4.0).
“chore(robots): deprecate strech, vipex and widowx robots by @imstevenpmwork in https://github.com/huggingface/lerobot/pull/2205”
https://github.com/huggingface/lerobot/releases/tag/v0.4.0 - T1 · upstream documentedsource-codesource 2025-08-06verified 2026-10-24 (1d ago)lerobot 0.3.3
Last release with the viperx robot type (single ViperX arm, ALOHA safety defaults).
“@RobotConfig.register_subclass("viperx")”
https://github.com/huggingface/lerobot/blob/v0.3.3/src/lerobot/robots/viperx/config_viperx.py - T1 · upstream documentedsource-codesource 2025-08-06verified 2026-10-24 (1d ago)lerobot 0.3.3
ViperX motor map: 9 Dynamixel motors incl. shoulder/elbow shadows and gripper.
“"wrist_rotate": Motor(8, "xm430-w350", MotorNormMode.RANGE_M100_100), "gripper": Motor(9, "xm430-w350", MotorNormMode.RANGE_0_100),”
https://github.com/huggingface/lerobot/blob/v0.3.3/src/lerobot/robots/viperx/viperx.py - T1 · upstream documentedofficial-docssource 2025-08-06verified 2026-10-24 (1d ago)lerobot 0.3.3
The viperx README in 0.3.x documents ALOHA / ALOHA 2 stationary.
“This tutorial explains how to use [Aloha and Aloha 2 stationary](https://www.trossenrobotics.com/aloha-stationary) with LeRobot.”
https://github.com/huggingface/lerobot/blob/v0.3.3/src/lerobot/robots/viperx/README.md - T1 · upstream documentedsource-codesource 2025-06-05verified 2026-10-24 (1d ago)
Main just before the Hardware API redesign (parent of PR #777 merge) had an `aloha` robot type.
“@RobotConfig.register_subclass("aloha")”
https://github.com/huggingface/lerobot/blob/b536f47e3ff8c3b340fc5efa52f0ece0a7212a57/lerobot/common/robot_devices/robots/configs.py - T1 · upstream documentedrelease-notessource 2025-08-01verified 2026-10-24 (1d ago)lerobot 0.3.2
v0.3.2 notes include native ALOHA control (PR #316), real-world ALOHA datasets (PR #133) and the Hardware API redesign (PR #777).
“Control aloha robot natively by @Cadene in https://github.com/huggingface/lerobot/pull/316”
https://github.com/huggingface/lerobot/releases/tag/v0.3.2 - T3 · community reportedhub-checkpointverified 2026-10-24 (1d ago)
One of 15 lerobot/aloha_static_* real-robot datasets listed in the lerobot Hub org (Hub API search, 2026-10-24).
https://huggingface.co/datasets/lerobot/aloha_static_coffee - T3 · community reportedhub-checkpointverified 2026-10-24 (1d ago)
Official LeRobot ACT checkpoint trained on ALOHA sim transfer-cube data.
https://huggingface.co/lerobot/act_aloha_sim_transfer_cube_human - T1 · upstream documentedvendor-docsverified 2026-10-24 (1d ago)
Original ALOHA repo: 4 robots, 4 cameras, ROS-based teleop and data collection (MIT).
“# ALOHA: A Low-cost Open-source Hardware System for Bimanual Teleoperation”
https://github.com/tonyzhaozh/aloha/blob/06369f03cd8e0a47e16d3a90167853fd33af7557/README.md