arxivcs.RO2026-07-07
ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations
Chenhao Yu, Hongwu Wang, Weitao Zhang, Youhao Hu, Jiachen Zhang, Gangyang Li, et al.
Humanoid robots are increasingly expected to perform contact-rich tasks that require not only accurate whole-body motion but also robust physical interaction with surrounding objects and humans. Although recent advances in humanoid motion imitation and whole-body control have ach…