mlsanityData to 14 Oct 2026

BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark

arXiv 2407.07788 ↗First posted 10 Jul 2024cs.RO cs.AI cs.CVcited by 30

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Abstract (arXiv)

We introduce BiGym, a new benchmark and learning environment for mobile bi-manual demo-driven robotic manipulation. BiGym features 40 diverse tasks set in home environments, ranging from simple target reaching to complex kitchen cleaning. To capture the real-world performance accurately, we provide human-collected demonstrations for each task, reflecting the diverse modalities found in real-world robot trajectories. BiGym supports a variety of observations, including proprioceptive data and visual inputs such as RGB, and depth from 3 camera views. To validate the usability of BiGym, we thoroughly benchmark the state-of-the-art imitation learning algorithms and demo-driven reinforcement learning algorithms within the environment and discuss the future opportunities.

Key facts. Cited by 30 papers in the map (data through 14 Oct 2026). Builds on 43 of its 54 references that are in the map. First posted on arXiv 10 Jul 2024.

Builds on

43 of 54 references.

References · 43

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31 more
  1. 2019Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learningcited by 1,204
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  3. 2019RLBench: The Robot Learning Benchmark & Learning Environmentcited by 689
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  5. 2021CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Taskscited by 584
  6. 2022Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulationcited by 551
  7. 2020robosuite: A Modular Simulation Framework and Benchmark for Robot Learningcited by 511
  8. 2021Habitat 2.0: Training Home Assistants to Rearrange their Habitatcited by 511
  9. 2024RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robotscited by 407
  10. 2021Mastering Visual Continuous Control: Improved Data-Augmented Reinforcement Learningcited by 372
  11. 2023ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skillscited by 327
  12. 2023RVT: Robotic View Transformer for 3D Object Manipulationcited by 225
  13. 2021ManiSkill: Generalizable Manipulation Skill Benchmark with Large-Scale Demonstrationscited by 197
  14. 2023FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulationcited by 133
  15. 2018Sim-to-Real Reinforcement Learning for Deformable Object Manipulationcited by 131
  16. 2021Coarse-to-Fine Q-attention: Efficient Learning for Visual Robotic Manipulation via Discretisationcited by 122
  17. 2020SoftGym: Benchmarking Deep Reinforcement Learning for Deformable Object Manipulationcited by 121
  18. 2024HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulationcited by 112
  19. 2024Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulationcited by 93
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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 5; 2025: 14; 2026: 11.

30 papers.

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  1. 2025RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twinscited by 121
  2. 2024DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learningcited by 116
  3. 2025InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactionscited by 72
  4. 2024RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)cited by 69
  5. 2026World Action Models: The Next Frontier in Embodied AIcited by 50
  6. 2025FastTD3: Simple, Fast, and Capable Reinforcement Learning for Humanoid Controlcited by 44
  7. 2025RoboEval: Where Robotic Manipulation Meets Structured and Scalable Evaluationcited by 32
  8. 2025ManipBench: Benchmarking Vision-Language Models for Low-Level Robot Manipulationcited by 24
  9. 2024Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimickingcited by 16
  10. 2025Actor-Critic for Continuous Action Chunks: A Reinforcement Learning Framework for Long-Horizon Robotic Manipulation with Sparse Rewardcited by 13
  11. 2024Coarse-to-fine Q-Network with Action Sequence for Data-Efficient Reinforcement Learningcited by 10
  12. 2025SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blendingcited by 9
18 more
  1. 2025SafeBimanual: Diffusion-based Trajectory Optimization for Safe Bimanual Manipulationcited by 9
  2. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 6
  3. 2025D-CODA: Diffusion for Coordinated Dual-Arm Data Augmentationcited by 5
  4. 2025ESPADA: Execution Speedup via Semantics Aware Demonstration Data Downsampling for Imitation Learningcited by 4
  5. 2024λ: A Benchmark for Data-Efficiency in Long-Horizon Indoor Mobile Manipulation Roboticscited by 3
  6. 2025ROPA: Synthetic Robot Pose Generation for RGB-D Bimanual Data Augmentationcited by 3
  7. 2026Speedup Patch: Learning a Plug-and-Play Policy to Accelerate Embodied Manipulationcited by 3
  8. 2025FLAM: Foundation Model-Based Body Stabilization for Humanoid Locomotion and Manipulationcited by 2
  9. 2025Towards a Generalizable Bimanual Foundation Policy via Flow-based Video Predictioncited by 2
  10. 2025RealMirror: A Comprehensive, Open-Source Vision-Language-Action Platform for Embodied AIcited by 2
  11. 2026DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real Worldcited by 2
  12. 2026RoboWits: Unexpected Challenges for Robotic Creative Problem Solvingcited by 1
  13. 2026IMBench: A Benchmark for Intuitive Robotic Manipulationcited by 1
  14. 2026The Neverwhere Visual Parkour Benchmark Suitecited by 0
  15. 2026Do World Models Make Better Robots? A Survey of Evaluation Benchmarks for Predictive Embodied Intelligencecited by 0
  16. 2026CodeActionBench: Evaluating Agentic Code-as-Policy for Embodied Manipulationcited by 0
  17. 2026CoHuB: A Simulation Benchmark for Multi-Humanoid Collaborationcited by 0
  18. 2026LIVIN: Benchmarking Spatial and Embodied Intelligence in Digital Twins of Lived-In Homescited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026BiGym 2.0: Benchmarking Learned and Agent-Developed Policies for Humanoid Household Manipulation
  2. 2026RoboCasa365: A Large-Scale Simulation Framework for Training and Benchmarking Generalist Robots
  3. 2025Multi-Stage Manipulation with Demonstration-Augmented Reward, Policy, and World Model Learning
  4. 2025RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulation Environments
  5. 2026DemoBot: Efficient Learning of Bimanual Manipulation with Dexterous Hands From Third-Person Human Videos
  6. 2025Bootstrapping Imitation Learning for Long-horizon Manipulation via Hierarchical Data Collection Space
  7. 2025Learning a Thousand Tasks in a Day
  8. 2024ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks