Preprint · 2024

BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation

Chengshu Li, Ruohan Zhang, Josiah Wong, Cem Gokmen, Sanjana Srivastava, Roberto Martín-Martín, Chen Wang, Gabrael Levine, Wensi Ai, Benjamin Martinez, Hang Yin, Michael Lingelbach, Minjune Hwang, Ayano Hiranaka, Sujay Garlanka, Arman Aydin, Sharon Lee, Jiankai Sun, Mona Anvari, Manasi Sharma, Dhruva Bansal, Samuel Hunter, Kyu-Young Kim, Alan Lou, Caleb R. Matthews, Ivan Villa-Renteria, Jerry Huayang Tang, Claire Tang, Fei Xia, Yunzhu Li, Silvio Savarese, Hyowon Gweon, C. Karen Liu, Jiajun Wu, Li Fei-Fei

Abstract

We present BEHAVIOR-1K, a comprehensive simulation benchmark for human-centered robotics. BEHAVIOR-1K includes two components, guided and motivated by the results of an extensive survey on "what do you want robots to do for you?". The first is the definition of 1,000 everyday activities, grounded in 50 scenes (houses, gardens, restaurants, offices, etc.) with more than 9,000 objects annotated with rich physical and semantic properties. The second is OMNIGIBSON, a novel simulation environment that supports these activities via realistic physics simulation and rendering of rigid bodies, deformable bodies, and liquids. Our experiments indicate that the activities in BEHAVIOR-1K are long-horizon and dependent on complex manipulation skills, both of which remain a challenge for even state-of-the-art robot learning solutions. To calibrate the simulation-to-reality gap of BEHAVIOR-1K, we provide an initial study on transferring solutions learned with a mobile manipulator in a simulated apartment to its real-world counterpart. We hope that BEHAVIOR-1K's human-grounded nature, diversity, and realism make it valuable for embodied AI and robot learning research. Project website: https://behavior.stanford.edu.

BibTeX Copy

@misc{li_behavior-1k_2024,
	title = {{BEHAVIOR}-{1K}: {A} {Human}-{Centered}, {Embodied} {AI} {Benchmark} with 1,000 {Everyday} {Activities} and {Realistic} {Simulation}},
	shorttitle = {{BEHAVIOR}-{1K}},
	url = {http://arxiv.org/abs/2403.09227},
	doi = {10.48550/arXiv.2403.09227},
	abstract = {We present BEHAVIOR-1K, a comprehensive simulation benchmark for human-centered robotics. BEHAVIOR-1K includes two components, guided and motivated by the results of an extensive survey on "what do you want robots to do for you?". The first is the definition of 1,000 everyday activities, grounded in 50 scenes (houses, gardens, restaurants, offices, etc.) with more than 9,000 objects annotated with rich physical and semantic properties. The second is OMNIGIBSON, a novel simulation environment that supports these activities via realistic physics simulation and rendering of rigid bodies, deformable bodies, and liquids. Our experiments indicate that the activities in BEHAVIOR-1K are long-horizon and dependent on complex manipulation skills, both of which remain a challenge for even state-of-the-art robot learning solutions. To calibrate the simulation-to-reality gap of BEHAVIOR-1K, we provide an initial study on transferring solutions learned with a mobile manipulator in a simulated apartment to its real-world counterpart. We hope that BEHAVIOR-1K's human-grounded nature, diversity, and realism make it valuable for embodied AI and robot learning research. Project website: https://behavior.stanford.edu.},
	urldate = {2026-11-07},
	publisher = {arXiv},
	author = {Li, Chengshu and Zhang, Ruohan and Wong, Josiah and Gokmen, Cem and Srivastava, Sanjana and Martín-Martín, Roberto and Wang, Chen and Levine, Gabrael and Ai, Wensi and Martinez, Benjamin and Yin, Hang and Lingelbach, Michael and Hwang, Minjune and Hiranaka, Ayano and Garlanka, Sujay and Aydin, Arman and Lee, Sharon and Sun, Jiankai and Anvari, Mona and Sharma, Manasi and Bansal, Dhruva and Hunter, Samuel and Kim, Kyu-Young and Lou, Alan and Matthews, Caleb R. and Villa-Renteria, Ivan and Tang, Jerry Huayang and Tang, Claire and Xia, Fei and Li, Yunzhu and Savarese, Silvio and Gweon, Hyowon and Liu, C. Karen and Wu, Jiajun and Fei-Fei, Li},
	month = mar,
	year = {2024},
	note = {arXiv:2403.09227 [cs.RO]},
	keywords = {Computer Science - Artificial Intelligence, Computer Science - Robotics},
}