SimbaV2
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Dataset

We're open-sourcing $57$-task datasets from the SimbaV2 agent's replay buffers, available for download below. We hope this release encourages other research groups to share their datasets and checkpoints, driving collaboration and progress.

Click to Download:

🤗 Hugging Face MuJoCo (5 tasks) DMControl (28 tasks)
MyoSuite (10 tasks) HumanoidBench (14 tasks)

Overview

We release a total of $57$ single-task expert datasets with transition data from the replay buffers of single-task SimbaV2 agents. The domains consist of MuJoCo (5), DMControl (28), MyoSuite (10), and HumanoidBench (14), encompassing a variety of locomotion and manipulation tasks with varying levels of complexity. The dataset details are summarized below.

Domains Tasks Embodiments Episodes Transitions Size Download

MuJoCo 		5 5 23.3K 15M 11.4GB

DMControl 		28 13 84K 42M 20GB

MyoSuite 		10 1 399.4K 15M 14.3GB

HumanoidBench 		14 1 122K 21M 11.1GB

Tasks

We list all $57$ tasks in the dataset below, along with SimbaV2 policy visualizations and: summary statistics.

Task ▲ $\vert \mathcal{O} \vert$ $\vert \mathcal{A} \vert$
Ant 27 8
HalfCheetah 17 6
Hopper 11 3
Humanoid 376 17
Walker2d 17 6

Task ▲ $\vert \mathcal{O} \vert$ $\vert \mathcal{A} \vert$
Acrobot Swingup 6 1
Ball In Cup Catch 6 1
Cartpole Balance 5 1
Cartpole Balance Sparse 5 1
Cartpole Swingup 5 1
Cartpole Swingup Sparse 5 1
Cheetah Run 17 6
Dog Run 223 38
Dog Stand 223 38
Dog Trot 223 38
Dog Walk 223 38
Finger Spin 9 2
Finger Turn Easy 12 2
Finger Turn Hard 12 2
Fish Swim 24 5
Hopper Hop 15 4
Hopper Stand 15 4
Humanoid Run 67 24
Humanoid Stand 15 4
Humanoid Walk 15 4
Pendulum Swingup 3 1
Quadruped Run 78 12
Quadruped Walk 78 12
Reacher Easy 6 2
Reacher Hard 6 2
Walker Run 24 6
Walker Stand 24 6
Walker Walk 24 6

Task ▲ $\vert \mathcal{O} \vert$ $\vert \mathcal{A} \vert$
Key Turn 93 39
Key Turn Hard 93 39
Object Hold 91 39
Object Hold Hard 91 39
Pen Twirl 83 39
Pen Twirl Hard 83 39
Pose 108 39
Pose Hard 108 39
Reach 115 39
Reach Hard 115 39

Task ▲ $\vert \mathcal{O} \vert$ $\vert \mathcal{A} \vert$
Balance Simple 64 19
Balance Hard 64 19
Crawl 51 19
Hurdle 51 19
Maze 51 19
Pole 51 19
Reach 57 19
Run 51 19
Sit Simple 51 19
Sit Hard 64 19
Slide 51 19
Stair 51 19
Stand 51 19
Walk 51 19