{"categories":[{"label":"Build Tools","url":"https://skillfed.io/packages/category/software-development-build-tools/5"}],"enrichment":{"capability":"Provides a Gymnasium environment for the ALOHA dual-arm robotic manipulation system, enabling reinforcement learning agents to train on cube transfer and peg insertion tasks with physics simulation via MuJoCo.","skillfed_tags":["robotics-simulation","reinforcement-learning","manipulation-tasks"],"use_cases":["Train reinforcement learning agents on dual-arm manipulation tasks with sparse reward signals and visual observations.","Develop imitation learning pipelines using the ALOHA environment as a standardized benchmark.","Prototype robot control policies in simulation before deployment to physical ALOHA hardware.","Research multi-modal learning approaches combining joint state, velocity, and camera image observations.","Benchmark manipulation algorithms on structured insertion and transfer tasks with configurable difficulty."],"what_it_does":"gym-aloha wraps the ALOHA dual-arm robotic manipulation system as a Gymnasium environment, allowing reinforcement learning researchers and practitioners to train agents on two concrete manipulation tasks: TransferCubeTask (pick and transfer a cube between grippers) and InsertionTask (grasp and insert a peg into a socket). The environment is built on MuJoCo physics simulation and dm-control, providing continuous 14-dimensional action spaces (joint positions and gripper states for two arms) and multi-modal observations (joint states, camera images from multiple angles, and environment state). Rewards are structured as sparse milestones (1\u20134 points per task) based on task progress.\n\nThe package is designed for researchers developing imitation learning, reinforcement learning, or other control algorithms on realistic manipulation tasks. It supports configurable observation types (pixels or pixels with agent position), image resolution, and rendering modes. GPU-accelerated rendering is available but requires careful EGL configuration. The environment is in alpha status and actively maintained, with support for Python 3.10 through 3.14.","worth_installing":"Yes, if you are working on reinforcement learning or robot control research and need a standardized ALOHA simulation environment. The package has low install friction, permissive licensing, no known vulnerabilities, and active maintenance. Caveat: requires Python 3.10+, and GPU rendering requires careful MuJoCo/EGL setup; CPU rendering will work but may be slow for large-scale training."},"id":"gym-aloha","links":{"html":"https://skillfed.io/packages/gym-aloha","md":"https://skillfed.io/packages/gym-aloha.md","pypi":"https://pypi.org/project/gym-aloha/"},"maintenance":{"status":"active"},"meta":{"latest_release":"2026-06-10","license_spdx":null,"license_treatment":"permissive","name":"gym-aloha","python_support":"supports_current","summary":"A gym environment for ALOHA"},"popularity":{"monthly_downloads":106817,"position":12637,"tier":"top_15000"},"security":{"n_vulnerabilities":0},"version":"0.1.4"}