metadata
pretty_name: BiGym 2.0 G1 Demonstrations
license: cc-by-4.0
language:
- en
task_categories:
- robotics
tags:
- robotics
- lerobot
- bigym
- humanoid
- loco-manipulation
- imitation-learning
- teleoperation
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.
Related
Every evaluation episode of the paper's coding-agent sessions, 5,400 in all,
with simulator state, actions and the program lines each step ran, is in
SWIRL-Lab/bigym2-agent-rollouts.
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}
}