Humanoid Hanoi: Investigating Shared Whole-Body Control for Skill-Based Box Rearrangement 📦

Minku Kim^†, Kuan-Chia Chen^†, Aayam Shrestha, Li Fuxin, Stefan Lee, and Alan Fern

📄 Paper | 🌐 Website | 📖 BibTeX

H1 Robot	G1 Robot	Digit Robot
H1 humanoid robot	G1 humanoid robot	Digit humanoid robot

Setup Instructions

Conda is required to run the setup script included with this repository. To avoid licensing issues with Anaconda, it is recommended you install conda on your machine via Miniconda rather than Anaconda.

To create a fresh conda environment with all the necessary dependencies, run the following commands at the root directory of this repository:

chmod +x setup.bash
bash setup.bash

This script will:

• Set up a new conda environment
• Install additional pip packages
• Install mujoco210

Usage

To evaluate the environment, run eval.py with the --robot flag to specify which robot to use:

python eval.py --robot <robot_name>

Robot Options

The --robot flag accepts one of the following options:

• "h1" - H1 humanoid robot
• "g1" - G1 humanoid robot
• "digit" - Digit humanoid robot (default)

Additional Flags

• --offscreen: Run the evaluation without a display window

Interactive Controls

During interactive evaluation, press the 'r' key to reset the environment.

Note

⚠️ This repository contains only the environment implementation. Training code is NOT included.

Citing Humanoid Hanoi

If you find this repository useful, please consider giving a star ⭐ and citation 📦:

@article{kim2026humanoid,
  title={Humanoid Hanoi: Investigating Shared Whole-Body Control for Skill-Based Box Rearrangement},
  author={Kim, Minku and Chen, Kuan-Chia and Shrestha, Aayam and Fuxin, Li and Lee, Stefan and Fern, Alan},
  journal={arXiv preprint arXiv:2602.13850},
  year={2026}
}