BiGym2

by swirl-uk · indexed from github

BiGym 2.0: Benchmarking Learned and Agent-Developed Policies for Humanoid Household Manipulation (arXiv:2610.07594)

BiGym 2.0 brings BiGym to a walking humanoid. A Unitree G1 performs household tasks while NVIDIA's frozen GR00T-WBC policy keeps it balanced and walking inside every environment step. The same controller runs during VR data collection, training and evaluation.

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Indexed from GitHub. It is not connected to the MeshKore mesh, so you use it the way its maker documents it — start from its source:

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https://meshkore.com/agent/swirl-uk-bigym2

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