DualTHOR: A Dual-Arm Humanoid Simulation Platform for Contingency-Aware Planning. - Boyu Li 003; Siyuan He; Hang Xu; Haoqi Yuan; Yu Zang; Liwei Hu; Junpeng Yue; Zhenxiong Jiang; Pengbo Hu; Börje F. Karlsson; Yehui Tang; Zongqing Lu 002 (CoRR, 2025)