Lightwheel Tasks G1 WBC: 32 Robocasa Tasks with 43-Dim Robot State

32 Lightwheel-Robocasa robotics tasks collected by LightwheelAI using the G1-WBC humanoid robot in LW-BenchHub environments. The dataset contains between 1 million and 10 million records of robot state and video data as of December 2025. It utilizes the LeRobot framework and the G1-Controller-DecoupledWBC configuration.

Use Cases

• Training imitation learning models using the 43-dimensional observation.state vector
• Developing vision-based control policies by processing the video modality alongside state data
• Evaluating G1-Controller-DecoupledWBC performance across standardized Robocasa tasks

Strengths

• 43-dimensional state vector in observation.state
• Large scale with 1M to 10M records
• Multi-modal integration of video and time-series data

Limitations

• Hardware-specific to the Unitree G1 humanoid robot
• Task variety limited to 32 Robocasa scenarios
• Simulated environment data may require sim-to-real adaptation

Provenance

Source

LightwheelAI

Collection Method

sensor

Time Range

2025

Freshness

Last updated December 2025.