SWIRL-Lab/bigym-g1-native60

BiGym 2.0 — G1 Demonstrations

Human VR demonstrations for the 20 tasks of BiGym 2.0: 60 successful episodes per task on a Unitree G1 (Dex1 grippers), recorded through the same frozen GR00T-WBC whole-body controller used for evaluation.

Format

• One LeRobot v3 dataset per task folder, 50 Hz.
• Three cameras (head, left_wrist, right_wrist) at 84×84, lossless PNG.
• Per-frame simulator state (full_qpos, full_qvel), so any camera or resolution can be re-rendered (bigym-rerender-lerobot).
• English task instruction in each folder's meta/tasks.parquet.

Tasks

Group	Tasks
Reaching	reach_target_single, reach_target_multi_modal, reach_target_dual
Table-top	move_plate, move_two_plates, flip_cup, flip_cutlery, stack_blocks
Dishwasher	dishwasher_close, dishwasher_load_cups, dishwasher_load_cutlery, dishwasher_load_plates
Kitchen counter	drawer_top_open, drawer_top_close, pick_box, put_cups, saucepan_to_hob, sandwich_remove, wall_cupboard_open, wall_cupboard_close

Action width differs by task. reach_target_*, move_plate and drawer_top_* use a 20-dim action / 50-dim state; the other 14 tasks add a torso-pitch command and use 21-dim action / 56-dim state. Multi-task training must reconcile the two.

Usage

hf download SWIRL-Lab/bigym-g1-native60 --repo-type dataset --include "move_plate/*"

Each task folder is a standalone LeRobot v3 dataset. Environments and loaders are in the code repository.

Citation

@article{zhang2026bigym2,
  title   = {BiGym 2.0: Benchmarking Learned and Agent-Developed Policies for Humanoid Household Manipulation},
  author  = {Zhang, Zexi and Zhu, Zecheng and Chen, Zidong and Tuya, Zulkhuu and James, Stephen},
  journal = {arXiv preprint arXiv:2610.07594},
  year    = {2026}
}