| --- |
| 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 |
| --- |
| |
| <p align="center"> |
| <img src="https://huggingface.co/datasets/SWIRL-Lab/bigym-g1-native60/resolve/main/assets/bigym-lockup-light.svg" alt="BiGym 2.0" width="320" class="block dark:hidden"> |
| <img src="https://huggingface.co/datasets/SWIRL-Lab/bigym-g1-native60/resolve/main/assets/bigym-lockup-dark.svg" alt="BiGym 2.0" width="320" class="hidden dark:block"> |
| </p> |
|
|
| <h1 align="center">BiGym 2.0 — G1 Demonstrations</h1> |
|
|
| <p align="center"> |
| <a href="https://arxiv.org/abs/2610.07594"><img alt="arXiv" src="https://img.shields.io/badge/arXiv-2610.07594-b31b1b.svg"></a> |
| <a href="https://github.com/swirl-uk/BiGym2"><img alt="Code" src="https://img.shields.io/badge/GitHub-BiGym2-181717?logo=github"></a> |
| <a href="https://creativecommons.org/licenses/by/4.0/"><img alt="License" src="https://img.shields.io/badge/License-CC_BY_4.0-lightgrey.svg"></a> |
| </p> |
|
|
| 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 |
|
|
| ```bash |
| 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](https://github.com/swirl-uk/BiGym2). |
|
|
| ## 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`](https://huggingface.co/datasets/SWIRL-Lab/bigym2-agent-rollouts). |
|
|
| ## Citation |
|
|
| ```bibtex |
| @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} |
| } |
| ``` |
|
|
