WEB-1K: WorldEngine Bimanual Manipulation Dataset and Benchmark for Real-World Post-training

Hang the accessory on the jewelry stand.

Arrange all shoes into matching pairs.

Sort baby clothes into organized piles.

Put the badminton birdies into the tube.

Pack items into a bag and close the zipper.

Bag groceries into shopping bags.

Balance a scale by putting weights.

Pour items from one bowl into another.

Return the bracelets to the hanger.

Organize coffee pods, cups, and straws into the organizer.

Stack lego bricks into pairs.

Organize plates, bowls, spoons, and chopsticks from a dining table.

Plug cable connectors into a power strip.

Remove chess pieces from chess board.

Hang clothes on the rack.

Organize coffee pods into the coffee pod holder.

Retrieve all coffee pods from the coffee pod holder.

Sort items into plates with the same color.

Connect pipe segments together into a complete unit.

Organize cooking utensils neatly into the container.

Decorate a toy cake with candles.

Organize items on a desk rack.

Roll dice and grab the corresponding number of blocks

Sort dinnerware plates and bowls by color.

Dry fresh asparagus with the paper towel and put them on the plate.

Insert coins into a piggy bank through its opening.

Fold grocery bags and stack them into compact bundles.

Hang baseball hats on a rack.

Solve the Tower of Hanoi puzzle by moving rings.

Sort fastening nuts and screws onto the plates.

Insert a battery into a mouse.

Set up a Jenga tower.

Return jewelry rings on the base platform of the hanger.

Lift a pot and put it on the rack.

Load dishes into a dish rack.

Rotate and move the assembled pieces until they fully match the reference model structure.

Open the mechanical tool box and remove the divider.

Sort balls from a pile into containers labelled with color.

Roll and arrange dice by their numeric values in an ascending order.

Set up and organize an office desk rack.

Open a locked box with a key.

Open a sealed box and remove items.

Organize a pen, eraser, or binder clip into the office supply organizer.

Pack food items into a bento box.

Pack a lunch box with food items.

Pack a sports bag with a tennis ball, badminton birdie, ping pong ball and ping pong paddle.

Pack items into suitcase.

Bounce a ping pong ball with a paddle into the basket.

Set up a paper towel holder.

Place books vertically onto shelves.

Pour instant coffee in a cup.

Unpack new shoes for wearing.

Prepare a sandwich by assembling ingredients.

Push buttons into a sequence.

Take out a food box.

Return necklaces to the hanger.

Return shoes to the shoe box.

Roll dice and check the result on a blackboard.

Scoop coffee beans into containers using a utensil.

Seal a water bottle by closing its cap.

Sort sports equipment to their plates.

Set up chess pieces on a chess board.

Set up a checkerboard with game pieces.

Sort shapes into their matching slots.

Load items into a shopping basket.

Solve a simple jigsaw puzzle.

Match socks into pairs and fold them.

Sort fruits and vegetables into categories by type.

Organize spoons, forks, and knives into the container.

Organize lego pieces by color.

Sort toy vehicles by type.

Stack 3D printed objects vertically.

Stack cups into nested tower.

Stack tableware plates and bowls.

Clean up and collect tennis balls into their tube.

Arrange tennis balls onto a tray.

Organize tools in a toolbox.

Fold towels and stack them neatly.

Play the Tower of Hanoi puzzle game.

Disassemble a toy robot.

Transfer items using a tray.

Transfer items between storage containers.

Sort trash into recycling and trash bins.

Unload dishes from a dishwasher rack.

Untie shoelaces on shoes.

Unplug cable from the socket and place it into the basket.

Plug USB cables into the charging block.

Vacuum the coffee beans from a surface.

Organize whiteboard markers and erasers.

Wrap a toy in a towel for storage.