SWIRL-Lab2026cc-by-4.0
BiGym 2.0 G1 Demonstrations
Human VR teleoperated demonstrations for 20 household manipulation tasks on a Unitree G1 humanoid robot, with 60 successful episodes per task recorded at 50 Hz through a whole-body controller.
Downloads193
Episodes1200
Why This Matters for Physical AI
This dataset provides high-quality teleoperated demonstrations for learning humanoid whole-body manipulation policies, enabling research into multi-task learning and imitation learning for complex household manipulation tasks.
Technical Profile
- Modalities
- rgbproprioception
- Robot Embodiments
- Unitree G1
- Action Space
- joint_positions
- Environment
- labkitchen
- Task Types
- manipulationloco-manipulationreachinggraspingpick_and_placepouring
- Episodes
- 1200
- Data Format
- LeRobot
- Annotation Types
- language_instructions
- License
- cc-by-4.0
Access
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