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license: cc-by-nc-4.0
task_categories:
- robotics
tags:
- robotics
- manipulation
- lerobot
- agibot-world
- dual-arm
- simulation
- world-model
pretty_name: DualSim (AgiBotWorld Challenge 2026)
configs:
- config_name: eval
data_files: eval/AgiBotWorldChallenge-2026-eval-dualsim/_lerobot/data/**/*.parquet
---
# DualSim
Data package for the **AgiBotWorld Challenge 2026** dual-arm simulation track.
## Layout
```
dualsim/
├── eval/ # dualsim-specific evaluation set (~321 MB)
│ └── AgiBotWorldChallenge-2026-eval-dualsim/
│ ├── _lerobot/ # LeRobot v2.1 dataset (meta / data / videos / sim)
│ ├── info_dataset/ # per-episode inputs (frame.png, proprio_stats.h5, camera params, sim/)
│ ├── gt_dataset/ # per-episode ground truth
│ └── list.csv # episode index (task, frames, fps, duration)
└── train/
└── AgiBotWorld2026/ # training data (mirror of agibot-world/AgiBotWorld2026)
└── RichInteraction/Home/...
```
## Eval set summary
- Format: [LeRobot](https://github.com/huggingface/lerobot) `v2.1`, robot type `g2a`
- 11 episodes · 773 frames · 1 task · 5 fps
- Observation: `observation.images.top_head` (480×640×3 video) + `observation.state` (42-dim)
- 11 evaluation episodes across tasks 367 / 392 / 511 / 515 / 525 / 558 / 573 (see `list.csv`)
## Training data
`train/AgiBotWorld2026/` mirrors the public dataset
[`agibot-world/AgiBotWorld2026`](https://huggingface.co/datasets/agibot-world/AgiBotWorld2026)
(`RichInteraction/Home` split). If you already have it locally, you can symlink it in
instead of downloading again.
## Updating
This repo is synced with `hf upload`, which only transfers files that changed. To push local
edits back to the Hub, run `./sync_dualsim.sh` from the dataset root (requires `hf auth login`).
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