HumanoidToolBench: Benchmarking Humanoid Tool Use from Selection to Mobile Execution
As robotic hardware and learning methods advance, humanoids need tools to perform tasks beyond their inherent physical limits. Successful tool use requires selecting a suitable tool and coordinating manipulation and, when needed, locomotion to complete the task. Existing benchmarks do not jointly evaluate these capabilities on a humanoid. We introduce HumanoidToolBench, an 18-task benchmark spanning three scenarios, three execution levels, and two tool-set modes, together with ToolBook, a dataset of 3.1k demonstrations collected in simulation and on a real Unitree G1. Evaluation of seven policies in simulation and three on the real robot reveals substantial gaps between selecting a suitab...
| Authors | Kyochul Jang, Seohyeon Park, Ohchul Kwon et al. |
|---|---|
| Primary category | cs.RO |
| Published | 1 October 2026 |
| Last updated at source | 1 October 2026 |
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- 16 Oct 2026 Description: As robotic hardware and learning methods advance, humanoids need tools to perform tasks beyond their inherent physical limits. Successful tool use requires selecting a suitable tool and coordinating manipulation and, when needed, locomotion → As robotic hardware and learning methods advance, humanoids need tools to perform tasks beyond their inherent physical limits. Successful tool use requires selecting a suitable tool and coordinating manipulation and, when needed, locomotion
- 16 Oct 2026 Topics added cs.RO, cs.AI removed hf-daily-papers, humanoidtoolbench, toolbook, gr00t n1.7, tool selection, manipulation, locomotion, humanoid
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