[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-84878-en":3,"doc-seo-84878-105":30,"detail-sidebar-cat-0-en-105":91},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":20,"is_deleted":4,"is_public":21,"is_downloadable":21,"audit_status":21,"page_count":22,"language":23,"language_code":24,"site_id":25,"html_lang":24,"table_of_contents":26,"faqs":27,"seo_title":13,"seo_description":14,"update_tm":28,"read_time":29},84878,8796095461610,"Oliver","https://ap-avatar.wpscdn.com/davatar_276721f389ce27ea32af1340a28f341c",8,"Research & Report","ThorArena: Benchmarking Humanoid Physical Interaction with Human Motion-Force Demonstrations","Humanoid robots increasingly need to execute contact-rich tasks with accurate whole-body motion and robust physical interaction with humans and objects. Prior humanoid benchmarks emphasize kinematics, omitting synchronized interaction forces, so evaluations miss how external forces impact tracking accuracy, stability, and robustness. ThorArena provides a force-aware benchmark from real-world human motion and hand force measurements across six tasks. It uses synchronized simulation force replay and a unified protocol with FATS and complementary metrics to assess accuracy, force-level robustness, effort, and survival.","arXiv :2607 .06052v 1 [ cs .RO] 7 Jul 2026  \nThorArena: Benchmarking Humanoid Physical Interaction with Human  \nMotion-Force Demonstrations  \nChenhao Yu 1,∗ , Hongwu Wang 1,∗ , Weitao Zhang 1,∗ , Youhao Hu 1 , Jiachen Zhang 1 , Gangyang Li 1 , Alois Knoll2 , Shaqi Luo 1,†  \n1Beijing Academy of Artificial Intelligence 2Technical University of Munich  \nFig. 1. Overview of ThorArena. ThorArena integrates real-world motion–force demonstration collection, synchronized interaction-force replay in simulation, and standardized evaluation of humanoid whole-body control policies. The acquisition system records synchronized whole-body human motion and forces exerted through both hands across six representative physical interaction tasks. The captured motions are retargeted to humanoid reference trajectories, while the corresponding recorded forces are synchronously replayed at the robot hands during simulation. Policies are evaluated under matched force and no-force settings using FATS and complementary diagnostic metrics, including tracking RMSE, survival rate, robustness ratio, and power overhead.  \nAbstract—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 advancesin humanoid motion imitation and whole-body control have achieved remarkable tracking performance, existing datasets and benchmarks primarily focus on kinematic motion while largely overlooking synchronized interaction forces. As a result, current evaluations fail to capture how external interaction forces affect tracking accuracy, stability, and control robustness. In this paper, we present ThorArena, a benchmark for evaluating force-aware humanoid interaction based on human demonstrations with synchronized motion and force measurements. We collect a real-world interaction dataset that simultaneously captures whole-body human motion and forces exerted by both hands across six representative physical interaction tasks. Based on these demonstrations, we propose force-aware evaluation metrics that jointly assess whole-body tracking accuracy, robustness under different force levels, control effort, and episode survival through the Force-Aware Tracking Score (FATS) and complementary diagnostic metrics. We further establish a unified benchmark protocol that replays recorded  \n∗ These authors contributed equally.  \n†Corresponding author.  \ninteraction forces in simulation and provides a standardized evaluation interface for different humanoid control policies.  \nExperiments on representative whole-body control policies demonstrate that force-aware evaluation reveals substantial performance differences that remain largely hidden under conventional no-force evaluation. ThorArena provides a practical and reproducible framework for studying force-aware humanoid interaction and offers a new benchmark for evaluating contactrich humanoid behaviors.  \nI. INTRODUCTION  \nHumanoid robots are increasingly being developed for real-world applications, where many tasks require not only coordinated whole-body motion but also physical interaction with surrounding objects and humans. Recent advancesin humanoid teleoperation, motion imitation, and wholebody control have enabled robots to reproduce increasingly complex human behaviors through large-scale human demonstrations and simulation-based policy learning. However, existing humanoid datasets and benchmarks primarily emphasize kinematic motion tracking, task completion, or motion naturalness, while the role of measured interaction  \nforces is largely overlooked. As a result, current evaluation protocols provide only limited insight into how humanoid policies behave under realistic physical interactions.  \nForce interaction is a fundamental component of contactrich humanoid tasks. When a humanoid physically interacts with surrounding objects, the resulting forces directly affect whole-bod","cbCainUKJIpmTGa7","https://ap.wps.com/l/cbCainUKJIpmTGa7","pdf",9586307,2,1,7,"English","en",105,"# Introduction\n## Force-aware humanoid interaction and evaluation gap\n## ThorArena benchmark components and contributions","[{\"question\":\"ThorArena解决了什么现有基准评测的不足？\",\"answer\":\"现有基准多关注关节/运动学跟踪，缺少与人体交互同步测得的作用力，导致无法评估外力对跟踪精度、稳定性与控制鲁棒性的影响。ThorArena通过同步的人体运动与双手作用力演示来补足这一缺口。\"},{\"question\":\"ThorArena如何在仿真中进行力感知评测？\",\"answer\":\"采集的人体全身运动会被重定向到类人参考轨迹，同时记录的双手作用力会在仿真中与机器人手部同步回放。随后在匹配力与无力设置下对策略进行评测。\"},{\"question\":\"Force-Aware Tracking Score（FATS）用于衡量哪些方面？\",\"answer\":\"FATS与配套诊断指标共同用于联合评估全身跟踪精度、在不同作用力水平下的鲁棒性、控制代价（effort）以及任务/回合的生存率（survival）。\"}]",1784198973,18,{"code":4,"msg":31,"data":32},"ok",{"site_id":25,"language":24,"slug":33,"title":13,"keywords":34,"description":14,"schema_data":35,"social_meta":86,"head_meta":88,"extra_data":90,"updated_unix":28},"thorarena-benchmarking-humanoid-physical-interaction-with-human-motion-force-demonstrations","",{"@graph":36,"@context":85},[37,53,68],{"@type":38,"itemListElement":39},"BreadcrumbList",[40,44,47,50],{"item":41,"name":42,"@type":43,"position":21},"https://docshare.wps.com","Home","ListItem",{"item":45,"name":46,"@type":43,"position":20},"https://docshare.wps.com/document/","Document",{"item":48,"name":12,"@type":43,"position":49},"https://docshare.wps.com/document/research-report/",3,{"item":51,"name":13,"@type":43,"position":52},"https://docshare.wps.com/document/thorarena-benchmarking-humanoid-physical-interaction-with-human-motion-force-demonstrations/84878/",4,{"url":51,"name":13,"@type":54,"author":55,"headline":13,"publisher":57,"fileFormat":60,"inLanguage":24,"description":14,"dateModified":61,"datePublished":62,"encodingFormat":60,"isAccessibleForFree":63,"interactionStatistic":64},"DigitalDocument",{"name":9,"@type":56},"Person",{"url":41,"name":58,"@type":59},"DocShare","Organization","application/pdf","2026-07-23","2026-07-16",true,{"@type":65,"interactionType":66,"userInteractionCount":20},"InteractionCounter",{"@type":67},"ViewAction",{"@type":69,"mainEntity":70},"FAQPage",[71,77,81],{"name":72,"@type":73,"acceptedAnswer":74},"ThorArena解决了什么现有基准评测的不足？","Question",{"text":75,"@type":76},"现有基准多关注关节/运动学跟踪，缺少与人体交互同步测得的作用力，导致无法评估外力对跟踪精度、稳定性与控制鲁棒性的影响。ThorArena通过同步的人体运动与双手作用力演示来补足这一缺口。","Answer",{"name":78,"@type":73,"acceptedAnswer":79},"ThorArena如何在仿真中进行力感知评测？",{"text":80,"@type":76},"采集的人体全身运动会被重定向到类人参考轨迹，同时记录的双手作用力会在仿真中与机器人手部同步回放。随后在匹配力与无力设置下对策略进行评测。",{"name":82,"@type":73,"acceptedAnswer":83},"Force-Aware Tracking Score（FATS）用于衡量哪些方面？",{"text":84,"@type":76},"FATS与配套诊断指标共同用于联合评估全身跟踪精度、在不同作用力水平下的鲁棒性、控制代价（effort）以及任务/回合的生存率（survival）。","https://schema.org",{"og:url":51,"og:type":87,"og:title":13,"og:site_name":58,"og:description":14},"article",{"robots":89,"canonical":51},"index,follow",{"doc_id":7,"site_id":25},{"code":4,"msg":5,"data":92},[93,97,101,105,110,115,119,122,127,130,134],{"id":21,"doc_module":4,"doc_module_name":46,"category_name":94,"show_sort_weight":95,"slug":96},"Story & Novel",90,"story-novel",{"id":20,"doc_module":4,"doc_module_name":46,"category_name":98,"show_sort_weight":99,"slug":100},"Literature",80,"literature",{"id":52,"doc_module":4,"doc_module_name":46,"category_name":102,"show_sort_weight":103,"slug":104},"Exam",70,"exam",{"id":106,"doc_module":4,"doc_module_name":46,"category_name":107,"show_sort_weight":108,"slug":109},5,"Comic",60,"comic",{"id":111,"doc_module":4,"doc_module_name":46,"category_name":112,"show_sort_weight":113,"slug":114},6,"Technology",50,"technology",{"id":22,"doc_module":4,"doc_module_name":46,"category_name":116,"show_sort_weight":117,"slug":118},"Healthcare",40,"healthcare",{"id":11,"doc_module":4,"doc_module_name":46,"category_name":12,"show_sort_weight":120,"slug":121},30,"research-report",{"id":123,"doc_module":4,"doc_module_name":46,"category_name":124,"show_sort_weight":125,"slug":126},9,"Religion & Spirituality",20,"religion-spirituality",{"id":125,"doc_module":4,"doc_module_name":46,"category_name":128,"show_sort_weight":125,"slug":129},"World Cup","world-cup",{"id":131,"doc_module":4,"doc_module_name":46,"category_name":132,"show_sort_weight":131,"slug":133},10,"Lifestyle","lifestyle",{"id":135,"doc_module":4,"doc_module_name":46,"category_name":136,"show_sort_weight":106,"slug":137},19,"General","general"]