BEHAVIOR-1K

The BEHAVIOR-1K dataset is a comprehensive simulation benchmark for human-centered robotics¹. It is more grounded on actual human needs compared to its predecessor, BEHAVIOR-100¹. The 1,000 activities in the dataset come from the results of an extensive survey on "what do you want robots to do for you?"¹.

Here are some key features of the BEHAVIOR-1K dataset: - It includes 1,000 everyday activities, which are grounded in 50 scenes (houses, gardens, restaurants, offices, etc.) with more than 9,000 objects annotated with rich physical and semantic properties¹. - It uses OmniGibson (based on Nvidia’s Omniverse), a novel simulation environment that supports these activities via realistic physics simulation and rendering of rigid bodies, deformable bodies, and liquids¹. - The activities, scenes, and objects in the dataset are defined in the Behavior Domain Definition Language (BDDL)¹. - The dataset is designed to be more diverse in the type of scenes, objects, and activities¹. - It achieves a new level of realism in rendering and physics simulation, powered by NVIDIA’s Omniverse¹.

This dataset is valuable for embodied AI and robot learning research¹. It provides a robust definition of the 1,000 activities over 50 diverse scenes constituting over 9,000 objects⁵. Each object and scene in the dataset is annotated with considerable detail to ensure simulations can be as close to real-world scenarios as possible⁵.

(1) BEHAVIOR-1K – BEHAVIOR - Stanford University. https://behavior.stanford.edu/behavior-1k. (2) 2403.09227 - BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with .... https://www.emergentmind.com/papers/2403.09227. (3) BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 .... https://arxiv.org/html/2403.09227v1. (4) 【具身智能评估8】BEHAVIOR-1K: A Benchmark for Embodied AI with 1,000 Everyday .... https://blog.csdn.net/weixin_39653948/article/details/135074209. (5) stanford Behavior-1k——包含一千种日常任务的具身智能benchmark - 知乎. https://zhuanlan.zhihu.com/p/669737780.