BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation
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| Auteurs principaux: | , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , |
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| Format: | Preprint |
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2024
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| author | Li, Chengshu Zhang, Ruohan Wong, Josiah Gokmen, Cem Srivastava, Sanjana Martín-Martín, Roberto Wang, Chen Levine, Gabrael Ai, Wensi Martinez, Benjamin Yin, Hang Lingelbach, Michael Hwang, Minjune Hiranaka, Ayano Garlanka, Sujay Aydin, Arman Lee, Sharon Sun, Jiankai Anvari, Mona Sharma, Manasi Bansal, Dhruva Hunter, Samuel Kim, Kyu-Young Lou, Alan Matthews, Caleb R Villa-Renteria, Ivan Tang, Jerry Huayang Tang, Claire Xia, Fei Li, Yunzhu Savarese, Silvio Gweon, Hyowon Liu, C. Karen Wu, Jiajun Fei-Fei, Li |
| author_facet | Li, Chengshu Zhang, Ruohan Wong, Josiah Gokmen, Cem Srivastava, Sanjana Martín-Martín, Roberto Wang, Chen Levine, Gabrael Ai, Wensi Martinez, Benjamin Yin, Hang Lingelbach, Michael Hwang, Minjune Hiranaka, Ayano Garlanka, Sujay Aydin, Arman Lee, Sharon Sun, Jiankai Anvari, Mona Sharma, Manasi Bansal, Dhruva Hunter, Samuel Kim, Kyu-Young Lou, Alan Matthews, Caleb R Villa-Renteria, Ivan Tang, Jerry Huayang Tang, Claire Xia, Fei Li, Yunzhu Savarese, Silvio Gweon, Hyowon Liu, C. Karen Wu, Jiajun Fei-Fei, Li |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_09227 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation Li, Chengshu Zhang, Ruohan Wong, Josiah Gokmen, Cem Srivastava, Sanjana Martín-Martín, Roberto Wang, Chen Levine, Gabrael Ai, Wensi Martinez, Benjamin Yin, Hang Lingelbach, Michael Hwang, Minjune Hiranaka, Ayano Garlanka, Sujay Aydin, Arman Lee, Sharon Sun, Jiankai Anvari, Mona Sharma, Manasi Bansal, Dhruva Hunter, Samuel Kim, Kyu-Young Lou, Alan Matthews, Caleb R Villa-Renteria, Ivan Tang, Jerry Huayang Tang, Claire Xia, Fei Li, Yunzhu Savarese, Silvio Gweon, Hyowon Liu, C. Karen Wu, Jiajun Fei-Fei, Li Robotics Artificial Intelligence 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. |
| title | BEHAVIOR-1K: A Human-Centered, Embodied AI Benchmark with 1,000 Everyday Activities and Realistic Simulation |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2403.09227 |