Dataset · Hugging Face

RunpeiDong/hero_bench

Name: hero_bench
Creator: RunpeiDong
License: apache-2.0
Keywords: task_categories:robotics, license:apache-2.0, size_categories:1K<n<10K, format:text, modality:text, library:datasets, library:mlcroissant, region:us, humanoid, whole-body-control, end-effector-tracking, unitree-g1, mujoco, benchmark

hero_bench_v1 — HERO humanoid end-effector reaching benchmark hero_bench_v1 is the public end-effector reaching benchmark of HERO (Learning Humanoid End-Effector Control for Visual Whole-Body Open-Vocabulary Object Grasping, CoRL 2026): 1,298 synthetic whole-body reaching reference motions for the Unitree G1 humanoid with the Dex3 hand, scored in MuJoCo with the tooling of the HERO release (scripts/hero_bench.py, sim2sim/bench/). The paper's 180-clip protocol (three table… See the full description on the dataset page: https://huggingface.co/datasets/RunpeiDong/hero_bench.

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Author / organization	RunpeiDong
License (as declared)	apache-2.0
Downloads	178 (as reported by Hugging Face)
Likes	0
Created	2 October 2026
Last updated at source	2 October 2026

humanoidwhole-body-controlend-effector-trackingunitree-g1mujocobenchmark

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