BEHAVIOR-1K

BEHAVIOR-1K is a comprehensive simulation benchmark for testing embodied AI agents on 1,000 everyday household activities. This monolithic repository provides everything needed to train and evaluate agents on human-centered tasks like cleaning, cooking, and organizing — activities selected from real human time-use surveys and preference studies.

Check out our main website for more details!

🛠️ Installation

BEHAVIOR-1K provides an installation script that handles all dependencies and components. The script supports modular installation, allowing you to install only the components you need.

System Requirements

• OS: Linux (Ubuntu 20.04+), Windows 10+
• RAM: 32GB+ recommended
• VRAM: 8GB+
• GPU: NVIDIA RTX 2080+

Quick Start

For most users, we recommend the full installation with a new conda environment:

Linux

git clone https://github.com/StanfordVL/BEHAVIOR-1K
cd BEHAVIOR-1K
./setup.sh --new-env --omnigibson --bddl --teleop --dataset

Windows

git clone https://github.com/StanfordVL/BEHAVIOR-1K
cd BEHAVIOR-1K
.\setup.ps1 -NewEnv -OmniGibson -BDDL -Teleop -Dataset

Note: Run PowerShell as Administrator and set execution policy if needed: Set-ExecutionPolicy -ExecutionPolicy RemoteSigned -Scope CurrentUser

Installation Options

Available Components

Component	Flag	Description
OmniGibson	--omnigibson	Core physics simulator and robotics environment
BDDL	--bddl	Behavior Domain Definition Language for task specification
Teleoperation	--teleop	JoyLo interface for robot teleoperation

Additional Options

Option	Flag	Description
New Environment	--new-env	Create a new conda environment named behavior
Datasets	--dataset	Download BEHAVIOR datasets (requires --omnigibson)
Primitives	--primitives	Install OmniGibson with action primitives support
Development	--dev	Install development dependencies
CUDA Version	--cuda-version X.X	Specify CUDA version (default: 12.4)

Terms of Service & License Acceptance

BEHAVIOR-1K installation may require acceptance of various terms of service and license agreements. For interactive installation, you'll be prompted to accept these terms. For non-interactive/automated installation, use these flags:

Option	Flag	Description
Conda TOS	--accept-conda-tos	Automatically accept Anaconda Terms of Service
NVIDIA EULA	--accept-nvidia-eula	Automatically accept NVIDIA Isaac Sim End User License Agreement
Dataset License	--accept-dataset-tos	Automatically accept BEHAVIOR Data Bundle License Agreement

For automated/CI environments, you can bypass all prompts:

./setup.sh --new-env --omnigibson --bddl --teleop --dataset \
           --accept-conda-tos --accept-nvidia-eula --accept-dataset-tos

To see all available options:

./setup.sh --help

📄 Citation

@article{li2024behavior1k,
    title   = {BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation},
    author  = {Chengshu Li and Ruohan Zhang and Josiah Wong and Cem Gokmen and Sanjana Srivastava and Roberto Martín-Martín and Chen Wang and Gabrael Levine and Wensi Ai and Benjamin Martinez and Hang Yin and Michael Lingelbach and Minjune Hwang and Ayano Hiranaka and Sujay Garlanka and Arman Aydin and Sharon Lee and Jiankai Sun and Mona Anvari and Manasi Sharma and Dhruva Bansal and Samuel Hunter and Kyu-Young Kim and Alan Lou and Caleb R Matthews and Ivan Villa-Renteria and Jerry Huayang Tang and Claire Tang and Fei Xia and Yunzhu Li and Silvio Savarese and Hyowon Gweon and C. Karen Liu and Jiajun Wu and Li Fei-Fei},
    journal = {arXiv preprint arXiv:2403.09227},
    year    = {2024}
}