{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/humanoidbench-simulated-humanoid-benchmark","title":"HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation","arxiv_id":"2403.10506","date":"2024-03-15","proceeding":null,"authors":["Carmelo Sferrazza","Dun-Ming Huang","Xingyu Lin","Youngwoon Lee","Pieter Abbeel"],"abstract":"Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly and fragile hardware setups. To accelerate algorithmic research in humanoid robots, we present a high-dimensional, simulated robot learning benchmark, HumanoidBench, featuring a humanoid robot equipped with dexterous hands and a variety of challenging whole-body manipulation and locomotion tasks. Our findings reveal that state-of-the-art reinforcement learning algorithms struggle with most tasks, whereas a hierarchical learning approach achieves superior performance when supported by robust low-level policies, such as walking or reaching. With HumanoidBench, we provide the robotics community with a platform to identify the challenges arising when solving diverse tasks with humanoid robots, facilitating prompt verification of algorithms and ideas. The open-source code is available at https://humanoid-bench.github.io.","url_abs":"https://arxiv.org/abs/2403.10506v2","url_pdf":"https://arxiv.org/pdf/2403.10506v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"humanoidbench-simulated-humanoid-benchmark","repo_url":"https://github.com/carlosferrazza/humanoid-bench","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"jax","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2403.10506","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}