Preprint Open access
BiGym 2.0: Benchmarking Learned and Agent-Developed Policies for Humanoid Household Manipulation
Humanoid household manipulation requires the arms to act while the body balances, steps and changes posture. We present BiGym 2.0, an adaptation of BiGym for the Unitree G1 across 20 household tasks using a unified whole-body controller for demonstration and evaluation. The suite provides 60 native human virtual-realit …