Humanoid Tool UseIntermediate
HumanoidToolBench: Benchmarking Humanoid Tool Use from Selection to Mobile Execution
HumanoidToolBench is a preprint benchmark and dataset for humanoid tool use, containing 18 tasks across three scenarios, three execution levels, and standard/decoy tool sets, along with 3,094 teleoperated demonstrations on simulated and real Unitree G1 robots. Seven policies were evaluated in simulation and three on the real robot, revealing large gaps between selecting the right tool and actually completing the task. Focused GR00T N1.7 probes further show reduced selection accuracy on unseen tools and continued execution under unrelated instructions.