benchflow/humanoid
Humanoids on support stands doing tabletop tasks.
bench eval run \
-d benchflow/humanoid@0.1 \
--registry https://robouse.ai/hub/registry.json \
--agent oracleAbout this dataset
- Embodiment
- Unitree G1
- Simulator
- MuJoCo Menagerie models
- Requirements
- CPU only ·
bench>=0.7.4,<0.8 - Licence
- Task packages Apache-2.0
@misc{robouse_benchflow_humanoid_0_1,
title = {Robo Use benchflow/humanoid 0.1},
author = {{BenchFlow}},
year = {2026},
howpublished = {\url{https://robouse.ai/hub/benchflow/humanoid/}},
note = {BenchFlow dataset, tag benchflow/humanoid-v0.1, commit bcd0d002b9df}
}9 tasks
Size
Step budget
apollo-box-into-binYou control an Apptronik Apollo humanoid (1.73 m; MuJoCo Menagerie apptronik_apollo, Apache-2.0). Its hands are rigid plates (about 8 cm wide, 17…You control an Apptronik Apollo humanoid (1.73 m; MuJoCo Menagerie apptronik_apollo, Apache-2.0). Its hands are rigid plates (about 8 cm wide, 17 cm long and 4 cm thick; the modelled fingers do not move). The robot is mounted on a support stand (its pelvis is welded to the stand): it does not balance or walk, its legs hold a standing pose and its torso is pitched 14 degrees forward over a table. The arms and the neck move. World frame in metres: +x points forward from the robot, +y to the robot's left, +z up; the floor is at z = 0 and the origin is on the floor below the robot's pelvis. A red box (14 x 14 x 16 cm, 0.6 kg) stands on the table in front of the robot; a green bin with 7 cm walls stands further forward. The hands are flat plates: lift the box by squeezing it between both palms. All positions and sizes are listed under scene and objects in robo observe. Knocking an object onto the floor is a safety event and fails the task. Each hand's control point is the centre of its hand plate. The arm controller keeps both hands pointing forward (+x) with the palms facing each other; the forearms are a little wider than the plates, so a box squeezed between the hands also touches the forearms. Each hand reaches only a little past the robot's midline (y = 0).
Unitree G1700 stepsjudged on the final state
apollo-carry-trayYou control an Apptronik Apollo humanoid (1.73 m; MuJoCo Menagerie apptronik_apollo, Apache-2.0). Its hands are rigid plates (about 8 cm wide, 17…You control an Apptronik Apollo humanoid (1.73 m; MuJoCo Menagerie apptronik_apollo, Apache-2.0). Its hands are rigid plates (about 8 cm wide, 17 cm long and 4 cm thick; the modelled fingers do not move). The robot is mounted on a support stand (its pelvis is welded to the stand): it does not balance or walk, its legs hold a standing pose and its torso is pitched 14 degrees forward over a table. The arms and the neck move. World frame in metres: +x points forward from the robot, +y to the robot's left, +z up; the floor is at z = 0 and the origin is on the floor below the robot's pelvis. A tray (20 x 32 cm, with 7 cm high sides) stands on the table in front of the robot with a loose cup (6 cm wide, 9 cm tall) standing in it. A blue mat lies further forward on the table. All positions and sizes are listed under scene and objects in robo observe. Knocking an object onto the floor is a safety event and fails the task. Each hand's control point is the centre of its hand plate. The arm controller keeps both hands pointing forward (+x) with the palms facing each other; the forearms are a little wider than the plates, so a box squeezed between the hands also touches the forearms. Each hand reaches only a little past the robot's midline (y = 0).
Unitree G1700 stepsjudged on the final state
g1-can-to-plateYou control a Unitree G1 humanoid (1.32 m; MuJoCo Menagerie unitree_g1, BSD-3-Clause) with Dex3-1 three-finger hands (a thumb and two fingers per…You control a Unitree G1 humanoid (1.32 m; MuJoCo Menagerie unitree_g1, BSD-3-Clause) with Dex3-1 three-finger hands (a thumb and two fingers per hand). The robot is mounted on a support stand (its pelvis is welded to the stand): it does not balance or walk, its legs hold a standing pose and its waist is bent 26 degrees forward over a table in front of it. Only the arms and fingers move. World frame in metres: +x points forward from the robot, +y to the robot's left, +z up; the floor is at z = 0 and the origin is on the floor below the robot's pelvis. On the table stand a red can (5.2 cm wide, 12 cm tall) on the right and a white plate (17 cm wide) in the middle. All positions and sizes are listed under scene and objects in robo observe. Knocking an object onto the floor is a safety event and fails the task. Each hand's control point is its grasp point, between the thumb and the fingers. The arm controller keeps the hand level with the fingers pointing forward (+x) and the palm facing the robot's midline; the two fingers are on the outer side of the control point and reach 8 cm in front of it, the thumb is on the inner side. An object whose centre is at the control point sits between thumb and fingers (the open hand is about 6 cm wide inside); closing the fingers wraps them around it (a friction grasp). The hand cannot tilt, so objects are approached from behind (-x) or from above, and each hand reaches only about 10 cm past the robot's midline (y = 0).
Unitree G1500 stepsjudged on the final state
g1-drawer-stowYou control a Unitree G1 humanoid (1.32 m; MuJoCo Menagerie unitree_g1, BSD-3-Clause) with Dex3-1 three-finger hands (a thumb and two fingers per…You control a Unitree G1 humanoid (1.32 m; MuJoCo Menagerie unitree_g1, BSD-3-Clause) with Dex3-1 three-finger hands (a thumb and two fingers per hand). The robot is mounted on a support stand (its pelvis is welded to the stand): it does not balance or walk, its legs hold a standing pose and its waist is bent 26 degrees forward over a table in front of it. Only the arms and fingers move. World frame in metres: +x points forward from the robot, +y to the robot's left, +z up; the floor is at z = 0 and the origin is on the floor below the robot's pelvis. A small white cabinet (26 cm wide, 10 cm tall) stands on the table in front of the robot. Its drawer slides out toward the robot (up to 16 cm) and has a tall vertical bar handle 5 cm in front of the drawer face that rises 11 cm above the cabinet top. A bar of soap in a light-blue box (4.4 x 4.4 x 6 cm) lies on the table at the left. Only the part of the drawer that is pulled out in front of the cabinet is open from above; the drawer front is as tall as the cabinet. All positions and sizes are listed under scene and objects in robo observe. Knocking an object onto the floor is a safety event and fails the task. Each hand's control point is its grasp point, between the thumb and the fingers. The arm controller keeps the hand level with the fingers pointing forward (+x) and the palm facing the robot's midline; the two fingers are on the outer side of the control point and reach 8 cm in front of it, the thumb is on the inner side. An object whose centre is at the control point sits between thumb and fingers (the open hand is about 6 cm wide inside); closing the fingers wraps them around it (a friction grasp). The hand cannot tilt, so objects are approached from behind (-x) or from above, and each hand reaches only about 10 cm past the robot's midline (y = 0).
Unitree G11,200 stepsjudged on the final state
g1-pass-acrossYou control a Unitree G1 humanoid (1.32 m; MuJoCo Menagerie unitree_g1, BSD-3-Clause) with Dex3-1 three-finger hands (a thumb and two fingers per…You control a Unitree G1 humanoid (1.32 m; MuJoCo Menagerie unitree_g1, BSD-3-Clause) with Dex3-1 three-finger hands (a thumb and two fingers per hand). The robot is mounted on a support stand (its pelvis is welded to the stand): it does not balance or walk, its legs hold a standing pose and its waist is bent 26 degrees forward over a table in front of it. Only the arms and fingers move. World frame in metres: +x points forward from the robot, +y to the robot's left, +z up; the floor is at z = 0 and the origin is on the floor below the robot's pelvis. A green bottle (5 cm wide, 13 cm tall) stands at the far right of the table and a blue coaster (12 cm wide) lies at the far left. The right hand cannot reach the coaster and the left hand cannot reach the bottle. A tall drinking glass (6 cm wide, 12 cm tall, fragile) stands right of the middle: the robot touching it or knocking it over is a safety event. All positions and sizes are listed under scene and objects in robo observe. Knocking an object onto the floor is a safety event and fails the task. Each hand's control point is its grasp point, between the thumb and the fingers. The arm controller keeps the hand level with the fingers pointing forward (+x) and the palm facing the robot's midline; the two fingers are on the outer side of the control point and reach 8 cm in front of it, the thumb is on the inner side. An object whose centre is at the control point sits between thumb and fingers (the open hand is about 6 cm wide inside); closing the fingers wraps them around it (a friction grasp). The hand cannot tilt, so objects are approached from behind (-x) or from above, and each hand reaches only about 10 cm past the robot's midline (y = 0).
Unitree G1900 stepsjudged on the final state
h1-box-to-shelfYou control a Unitree H1 humanoid (1.8 m; MuJoCo Menagerie unitree_h1, BSD-3-Clause). It has no hands: each 4-joint arm ends in a round fist (6.6…You control a Unitree H1 humanoid (1.8 m; MuJoCo Menagerie unitree_h1, BSD-3-Clause). It has no hands: each 4-joint arm ends in a round fist (6.6 cm ball). The robot is mounted on a support stand (its pelvis is welded to the stand): it does not balance or walk, its legs hold a standing pose and only the arms move. A counter stands in front of it. World frame in metres: +x points forward from the robot, +y to the robot's left, +z up; the floor is at z = 0 and the origin is on the floor below the robot's pelvis. A cardboard box (16 x 22 x 16 cm, 0.5 kg) stands on the left of the counter; a blue shelf block, 10 cm high, stands on the right. The fists cannot grasp: lift the box by squeezing it between both fists or forearms. All positions and sizes are listed under scene and objects in robo observe. Knocking an object onto the floor is a safety event and fails the task. Each hand's control point is the centre of its fist. The arms have four joints, so the forearm's angle follows from where the fist is; the forearms also touch things. Objects are pushed, pressed or squeezed between the two fists or forearms.
Unitree G1700 stepsjudged on the final state
h1-panel-sequenceYou control a Unitree H1 humanoid (1.8 m; MuJoCo Menagerie unitree_h1, BSD-3-Clause). It has no hands: each 4-joint arm ends in a round fist (6.6…You control a Unitree H1 humanoid (1.8 m; MuJoCo Menagerie unitree_h1, BSD-3-Clause). It has no hands: each 4-joint arm ends in a round fist (6.6 cm ball). The robot is mounted on a support stand (its pelvis is welded to the stand): it does not balance or walk, its legs hold a standing pose and only the arms move. A counter stands in front of it. World frame in metres: +x points forward from the robot, +y to the robot's left, +z up; the floor is at z = 0 and the origin is on the floor below the robot's pelvis. A vertical control panel stands on the counter facing the robot, 43 cm in front of it. It has five push buttons (5 cm wide, protruding 1.5 cm): green and blue on the left, yellow and white on the right, and a red emergency-stop button in the middle. A button counts as pressed when pushed in 8 mm; it springs back when released. All positions and sizes are listed under scene and objects in robo observe. Each hand's control point is the centre of its fist. The arms have four joints, so the forearm's angle follows from where the fist is; the forearms also touch things. Objects are pushed, pressed or squeezed between the two fists or forearms.
Unitree G1600 stepsjudged on the final state
t1-box-onto-stepYou control a Booster T1 humanoid (1.18 m; MuJoCo Menagerie booster_t1, Apache-2.0). Each 4-joint arm ends in a rigid round hand (6 cm across, no…You control a Booster T1 humanoid (1.18 m; MuJoCo Menagerie booster_t1, Apache-2.0). Each 4-joint arm ends in a rigid round hand (6 cm across, no fingers). The robot is mounted on a support stand (its trunk is welded to the stand), leaning 20 degrees forward over a low table: it does not balance or walk and its legs hold a standing pose. The arms and the neck move. World frame in metres: +x points forward from the robot, +y to the robot's left, +z up; the floor is at z = 0 and the origin is on the floor below the robot's pelvis. A small box (10 x 14 x 10 cm, 0.3 kg) stands on the table in front of the robot and a green step, 6 cm high, stands further forward. The hands cannot grasp: lift the box by squeezing it between both hands. All positions and sizes are listed under scene and objects in robo observe. Knocking an object onto the floor is a safety event and fails the task. Each hand's control point is the tip of its round hand. The arms have four joints, so the hand's angle follows from where the tip is. Objects are pushed with the hand or squeezed between both hands; each hand works on its own side of the table (it reaches only a few centimetres past the midline y = 0).
Unitree G1600 stepsjudged on the final state
t1-push-cansYou control a Booster T1 humanoid (1.18 m; MuJoCo Menagerie booster_t1, Apache-2.0). Each 4-joint arm ends in a rigid round hand (6 cm across, no…You control a Booster T1 humanoid (1.18 m; MuJoCo Menagerie booster_t1, Apache-2.0). Each 4-joint arm ends in a rigid round hand (6 cm across, no fingers). The robot is mounted on a support stand (its trunk is welded to the stand), leaning 20 degrees forward over a low table: it does not balance or walk and its legs hold a standing pose. The arms and the neck move. World frame in metres: +x points forward from the robot, +y to the robot's left, +z up; the floor is at z = 0 and the origin is on the floor below the robot's pelvis. A red can and a blue can (6 cm wide, 6 cm tall) stand on the table; a red zone and a blue zone (8 cm wide circles) are marked further forward. The hands cannot grasp, so the cans are pushed. They slide on the table. All positions and sizes are listed under scene and objects in robo observe. Knocking an object onto the floor is a safety event and fails the task. Each hand's control point is the tip of its round hand. The arms have four joints, so the hand's angle follows from where the tip is. Objects are pushed with the hand or squeezed between both hands; each hand works on its own side of the table (it reaches only a few centimetres past the midline y = 0).
Unitree G1700 stepsjudged on the final state
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Each task is a package in the task format, pinned to robohub commit bcd0d002b9df. The verifier and the reference solution are not published.