Research

Citing BiGym 2.0

@article{zhang2026bigym2,
  title   = {BiGym 2.0: Benchmarking Learned and Agent-Developed Policies for Humanoid Household Manipulation},
  author  = {Zhang, Zexi and Zhu, Zecheng and Chen, Zidong and Tuya, Zulkhuu and James, Stephen},
  journal = {arXiv preprint arXiv:2610.07594},
  year    = {2026}
}

Please also cite BiGym [3], MuJoCo [4], GR00T-WBC [1] and, if you use VR collection, mink [2].

[1]

NVIDIA. GR00T N1: an open foundation model for generalist humanoid robots. arXiv preprint arXiv:2503.14734, 2025.

[2]

Kevin Zakka. Mink: Python inverse kinematics based on MuJoCo. 2024. URL: kevinzakka/mink.

[3]

Nikita Chernyadev, Nicholas Backshall, Xiao Ma, Yunfan Lu, Younggyo Seo, and Stephen James. BiGym: a demo-driven mobile bi-manual manipulation benchmark. arXiv preprint arXiv:2407.07788, 2024.

[4]

Emanuel Todorov, Tom Erez, and Yuval Tassa. MuJoCo: a physics engine for model-based control. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 5026–5033. 2012.

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