CoHuB: A Simulation Benchmark for Multi-Humanoid Collaboration

CoHuB (Collaborative Multi‑Humanoid Benchmark) is a simulation benchmark designed to evaluate multi‑humanoid collaboration using egocentric visual observations. It includes ten tasks—eight involving two humanoids and two involving three—covering a range of collaboration patterns. The benchmark also supplies synchronized demonstrations collected via a multi‑operator VR teleoperation pipeline, where each operator controls one humanoid from its own egocentric view, and preliminary experiments with visuomotor policies highlight significant challenges in coordinated perception and control.

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• benchmarks