datasets
Training and evaluation data, with the modality, task and licence stated up front. Listed live from the Hugging Face Hub.
bigym_plus
BiGym Plus Dataset
This dataset is derived from the official BiGym 0.9.0 human demonstrations, covering 40 bimanual humanoid manipulation tasks: 1868 trajectories, 620611 frames, about 25 GB, and roughly 8.6 hours of trajectory at 20Hz.
Head camera D455 (480×848), fovy: 58, control frequency 20Hz
Left/right wrist cameras D405 (480×640), fovy: 58, control frequency 20Hz
state and action in the dataset are uniformly 16-dimensional, isomorphic and co-ordered: floating base (X, Y… See the full description on the dataset page: https://huggingface.co/datasets/WuChao-Cauchy/bigym_plus.bigym_flip_cutlery_downsampled_ours_2_4bigym-all-tasks-3dgs-one-success
BiGym 全任务 3DGS 厨房壳 单成功轨迹集
发布状态：40/40 技术验证通过，视觉抽检通过；仓库保持，等待上游数据/壳资产再分发条款复核。
预览视频：previews/collection-preview.mp4
核心结果
官方 BiGym 任务：40/40
唯一任务：40
保存的 reward=1 episode：40
丢弃的 reward=0 候选：61（未进入成功 Parquet）
Transition / 每相机帧数：14,806 / 14,806
三相机 H.264 文件：120
相机：head 848×480、left wrist 640×480、right wrist 640×480，20 FPS
数据布局
reach/：3 个任务
long_horizon/：3 个任务
dishwasher/：10 个任务
tabletop/：24 个任务
task-manifest.csv：任务、demo UUID、seed、帧数、reward、动作哈希… See the full description on the dataset page: https://huggingface.co/datasets/eustance/bigym-all-tasks-3dgs-one-success.bigym-ogbench-20hz
BiGym, state observations, OGBench layout, uniform 20 Hz
Every BiGym task's demonstrations replayed once and stored in
OGBench's on-disk layout: one row per STATE, so a
trajectory of T transitions is T+1 rows, terminals marks the last row, and the final row's
action is a pad that ogbench.utils.load_dataset drops.
array
meaning
observations
robot proprioception (63 or 66) followed by object state (3-53)
actions
joint position targets rescaled to [-1, 1] by… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-ogbench-20hz.bigym_open_trays_downsampled_ours_2_4bigym_cupboard_open_downsampled_ours_2_4bigym-DishwasherClose-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DishwasherClose-20hz.bigym-DishwasherLoadPlates-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DishwasherLoadPlates-20hz.bigym-DishwasherCloseTrays-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DishwasherCloseTrays-20hz.bigym-DishwasherLoadCutlery-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DishwasherLoadCutlery-20hz.bigym-CupboardsCloseAll-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-CupboardsCloseAll-20hz.bigym-DishwasherLoadCups-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DishwasherLoadCups-20hz.bigym-DrawersAllOpen-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DrawersAllOpen-20hz.bigym-DrawerTopOpen-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DrawerTopOpen-20hz.bigym-DishwasherUnloadCutlery-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DishwasherUnloadCutlery-20hz.bigym-DrawersAllClose-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DrawersAllClose-20hz.bigym_remove_sandwich_downsampled_ours_2_4bigym-CupboardsOpenAll-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-CupboardsOpenAll-20hz.bigym-DrawerTopClose-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DrawerTopClose-20hz.bigym-DishwasherOpen-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DishwasherOpen-20hz.bigym-FlipCup-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-FlipCup-20hz.bigym-ReachTarget-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-ReachTarget-20hz.bigym-RemoveSandwich-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-RemoveSandwich-20hz.bigym_dishwasheropentraysbigym-DishwasherOpenTrays-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DishwasherOpenTrays-20hz.bigym-DishwasherUnloadCups-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DishwasherUnloadCups-20hz.bigym-MovePlate-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-MovePlate-20hz.bigym-DishwasherUnloadCutleryLong-20hzThis dataset was created using LeRobot.
Dataset Structure
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Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-DishwasherUnloadPlatesLong-20hz.bigym-WallCupboardOpen-20hzThis dataset was created using LeRobot.
Dataset Structure
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"video_path":… See the full description on the dataset page: https://huggingface.co/datasets/jellyho/bigym-WallCupboardOpen-20hz.