Jul 2026
ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations
ThorArena is presented, a benchmark for evaluating force-aware humanoid interaction based on human demonstrations with synchronized motion and force measurements and a unified benchmark protocol that replays recorded interaction forces in simulation and provides a standardized evaluation interface for different humanoi...
Chenhao Yu, Hongwu Wang, Weitao Zhang et al.
· arXiv.org · 0 citations