herbie
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Build, Pilot, Trade

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How herbie works, in three parts that play in turn: developers build sims in an editor and upload them; pilots play them in VR, in the browser at launch and in Meta Quest and SteamVR apps soon, and every run is recorded as an episode; traders buy datasets of those episodes, with scene graphs, as Parquet, or fund bounties for new ones, and every sale is shared back.

Build in your simulator

  • At launch
  • Planned
  • Planned

Play in your headset

  • At launch
  • Coming soon
  • Coming soon

Train in your stack

  • Planned
  • Planned

Developers

Upload a sim. Pilots play it, and every sale of its data pays you a share.

+ share of every sale

How building works

Pilots

Play sims from your VR headset. Every episode is recorded as data.

+ paid per accepted episode

How playing works

Traders

Buy the episodes as 4D data, or fund a bounty for data that doesn't exist yet.

Every sale shared back

See the store

How it works

A task being played, and its data: in a striped work cell a yellow robot arm and a pearl humanoid, tagged “You”, lift a crate together; beside the cell stands a stack of white boxes printed “DATA”, the top one open and full of episode cards.

(02)“How it works”

01 / 09

01For developers

Build a sim. We make it playable.

  1. Bring the world and task you already run. One command uploads it, starting with robosuite on MuJoCo.

    Docs

  2. Give every seat a robot: take one from the community library, or upload your own with the controller that moves it. Each seat is a pilot.

    Docs

  3. herbie builds it and runs the checks: it resets, the controls respond, success is detected. Play it in your headset, then publish it: pilots take the seats, and you earn a share every time its data sells.

    Docs
Developer quickstart

02For pilots

Pilots play it. And get paid.

  1. Open a link in your headset's browser and take a seat on a mission that's live right now. No install, no application. Play it alone, or bring friends into the lobby and take the seats together.

    Docs

  2. Your hands drive the robot. Do the task start to finish, with your team: every attempt is recorded, the good ones and the misses. Hold the button to take a seat yourself.

    Docs

  3. Automatic checks grade every episode: whether it worked, how fast and how cleanly. Accepted episodes pay, and so does every later sale of the data you made. Play when you like: no shifts, no interviews.

    Docs
Pilot guide

03For buyers

Buy the data. Or fund it.

  1. Say what you need — the simulation, the robots, the sequence of actions, how it ended — and see the episodes that match. Replay any of them in 3D before you pay: every camera, every joint, every event.

    Docs

  2. Buy the episodes already played, by the episode. Or back the ones that don't exist yet, like a Kickstarter: set a price per accepted episode, pay only for what passes, and every sale shares back with the pilots and creators who made it.

    Docs

  3. Compile it to exactly what you train on: the cameras, the frame rate and the episodes you want, written as Parquet, LeRobot or native episodes.

    Docs
Buying data

New simulationrobosuite · MuJoCo

lift_together/ scene.xmltask.pyherbie.toml 48.2 MBUploaded

herbie sim prepare

Works withMuJoCorobosuitePlanned: Isaac Lab · Newton

Robots · W-0012 of 2 seats

  • Seat 1

    Reach-6Industrial arm · reach6.urdf

    6 joints · parallel gripper · fixed base

    GraspStackHand over

  • Seat 2

    HaloHumanoid · halo.xml

    4 limbs · 2 hands · human scale

    CarrySteadyWalk

Community library4 robots

  • HaulMobile base
  • ScoutQuadruped
  • YoursAny model

herbie robot add reach6.urdf

Preview · W-001Private Cam 2 · third person

00:02.9 / 00:04.0

  • Builds and loads
  • Resets cleanly
  • Controls respond
  • Success is detected
  • Runs at 60 fps

5 / 5 checks passedTry in headset

PublishW-001 · v1

Lift Togetherc/o You · 2 seats PrivatePublic
Publish release

Pilots take the seats from their own headsets, and every sale of its data shares back.

Missions · live nowExample

Lift the crate, levelR-316 · by @grasp-lab · Lift Together

31 teams playing

1 seat open Halo · Humanoid

$10.00per accepted episode

Take the seat
  • Sort every parcelR-322 · 18 teams · 12 days left$8.00
  • Build the frameR-327 · 9 teams · 21 days left$15.00

WebXRAt launchMeta Quest · SteamVRComing soon

Rec · ep_0142 Seat 2 · Halo
  • Both handles held
  • Lift it level, together
  • Place it on the stand

Score0

Hold to lift your side. @mo lifts the other.

Episode acceptedExample

A Placed levelep_0142 · 2.9 s · tilt 2.6°
  • Success100
  • Speed86
  • Smoothness92

Earned@kay

+$10.16this episode

  • Accepted by @grasp-lab+$10.00
  • Its share of later sales+$0.16

Available$212.50

Cash out

Paid through Stripe At launch

Search episodesExample

lift a crate together, two arms, hand over⌘K

Simulation
Lift Together+ any world
Robots
Reach-6Halo
Sequence
GraspLiftPlace
Outcome
Successes onlyUnder 10 s

1,066episodes match · 48 pilots · 86% success

  • ep_0142Placed level · 2.9 sA$0.40
  • ep_0139Placed level · 3.4 sA$0.40
  • ep_0137Placed level · 2.6 sB$0.40

Replaying ep_0142 in 3Devery camera · every joint

Download · D-0011,066 episodes

Format
CamerasHeadWristOverhead
Frame rate30 Hz
EpisodesSuccesses only
lift_together/
  episodes/000000.parquet
  episodes/000001.parquet
  cameras/head/000000.mp4
  meta.json

1,066 episodes2 cameras · 30 Hz · 18.2 GB

Download

Reads straight intoLeRobotApache Parquet

Scroll through the steps

The marketplace

herbie / marketplaceExample

herbieMarketplace

Popular
  • Dataset Live · 3 teams playing Reach-6 · HaloD-001 Lift Together 1,240 episodes86% success c/o 48 pilots Per episode$0.40
  • Bounty 9 days left · 31 teams GLgrasp-labR-316 Lift the crate, level 59% $1,480 of $2,500 Per accepted episode$10.00
  • Dataset Reach-6 · HaulD-002 Parcel Crew 860 episodes79% success c/o 31 pilots Per episode$0.45
  • Bounty 12 days left · 18 teams FCfleet-coR-322 Sort every parcel 41% $976 of $2,400 Per accepted episode$8.00
  • Live · 3 teams playing

    Play it in VR

    Lift Together

    2 seats · 1 open · Reach-6 + Halo

    @kay + @mo are in it now

    Opens in your headset's browser · WebXR

  • DatasetNew Halo · Reach-6 · ScoutD-003 Assembly Shift 410 episodes72% success c/o 27 pilots Per episode$0.60
  • Bounty 21 days left · 9 teams FWframe-worksR-327 Build the frame 24% $720 of $3,000 Per accepted episode$15.00
  • Dataset Reach-6D-000 Practice Cell 5,200 episodes91% success c/o 214 pilots Per episode$0.15
  • Your shelf space

    Built a sim?

    Put it on the shelf

    MuJoCo · robosuite · your own robots

    Pilots play it, and every sale of its data shares back.

The marketplace opens with early access. At launch

Bounties, explained
Early access

(EA)“Early access”

Save your seat.

Pick every way you'd like to take part. We'll write when there's a world to play, or a place to build, ready for you.

How would you like to take part? Choose any.

No account needed. Just your email, for herbie early-access updates.