---
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`).