BiGym 2.0: Benchmarking Learned and Agent-Developed Policies for Humanoid Household Manipulation

Zexi Zhang, Zecheng Zhu, Zidong Chen +2

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…