---
pretty_name: Genie Sim Assets
size_categories:
- n>10G
task_categories:
- other
language:
- en
tags:
- real-world
- dual-arm
- robotics manipulation
- simulation
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  ### AgiBot World COMMUNITY LICENSE AGREEMENT

  AgiBot World Alpha Release Date: December 30, 2024 All the data and code
  within this repo are under [CC BY-NC-SA
  4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/).
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---

![geniesim.jpg](geniesim.jpg)
<div align="center">
  <a href="https://arxiv.org/abs/2601.02078">
    <img src='https://img.shields.io/badge/arXiv-Paper-red?logo=arxiv&logoColor=white' alt='arXiv'>
  </a>
  <a href="https://github.com/AgibotTech/genie_sim">
    <img src="https://img.shields.io/badge/GitHub-grey?logo=GitHub" alt="GitHub">
  </a>
  <!-- <a href="https://huggingface.co/datasets/agibot-world/GenieSimAssets">
    <img src="https://img.shields.io/badge/HuggingFace-yellow?logo=HuggingFace" alt="HuggingFace">
  </a> -->
  <a href="http://agibot-world.com/genie-sim">
    <img src="https://img.shields.io/badge/Webpage-green?" alt="Webpage">
  </a>
  <a href="https://modelscope.cn/datasets/agibot_world/GenieSim3.0-Dataset">
    <img src="https://img.shields.io/badge/Modelscope-blue" alt="Genie Studio">
  </a>
</div>

# Key Features 🔑
- **5000+** objects 1:1 replicated from real-life


# Get started 🔥
## Download the Assets
To download the full assets, please refer to the official Hugging Face/Modelscope documentation.


## Assets Structure
### Folder hierarchy
```
assets
├── background # Background environments
│   └── ...
├── robot # Robot models
│   ├── G1_120s
│   ├── G1_omnipicker
│   ├── G2_omnipicker
│   └── curobo_robot
├── objects # Object assets
│   └── ...
├── interaction # Interaction data
├── real2sim # Real-to-sim assets
│   └── ...
├── external # External assets
├── README.md
└── ...
```


# License and Citation
All the data and code within this repo are under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). Please consider citing our project if it helps your research.

```BibTeX
@misc{yin2026geniesim30,
  title={Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot}, 
  author={Chenghao Yin and Da Huang and Di Yang and Jichao Wang and Nanshu Zhao and Chen Xu and Wenjun Sun and Linjie Hou and Zhijun Li and Junhui Wu and Zhaobo Liu and Zhen Xiao and Sheng Zhang and Lei Bao and Rui Feng and Zhenquan Pang and Jiayu Li and Qian Wang and Maoqing Yao},
  year={2026},
  eprint={2601.02078},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2601.02078}, 
}
```