We introduce BEHAVIOR, a benchmark for embodied AI with 100 activities in simulation, spanning a range of everyday household chores such as cleaning, maintenance, and food preparation. These activities are designed to be realistic, diverse, and complex, aiming to reproduce the challenges that agents must face in the real world. Building such a benchmark poses three fundamental difficulties for each activity: definition (it can differ by time, place, or person), instantiation in a simulator, and evaluation. BEHAVIOR addresses these with three innovations. First, we propose an object-centric, predicate logic-based description language for expressing an activity's initial and goal conditions, enabling generation of diverse instances for any activity. Second, we identify the simulator-agnostic features required by an underlying environment to support BEHAVIOR, and demonstrate its realization in one such simulator. Third, we introduce a set of metrics to measure task progress and efficiency, absolute and relative to human demonstrators. We include 500 human demonstrations in virtual reality (VR) to serve as the human ground truth. Our experiments demonstrate that even state of the art embodied AI solutions struggle with the level of realism, diversity, and complexity imposed by the activities in our benchmark. We make BEHAVIOR publicly available at behavior.stanford.edu to facilitate and calibrate the development of new embodied AI solutions.
MolmoSpaces: A Large-Scale Open Ecosystem for Robot Navigation and Manipulation
Allen Institute for AI（艾伦人工智能研究所）；University of Washington（华盛顿大学）；University of California, Los Angeles（加州大学洛杉矶分校）；University of California, Berkeley（加州大学伯克利分校）
From Language to Action: Can LLM-Based Agents Be Used for Embodied Robot Cognition?
Institute of AI and Autonomous Systems (A 2 S)（人工智能与自主系统研究所）；Hochschule Bonn-Rhein-Sieg（波恩-莱茵-锡格大学）；Division for Systems and Control（系统与控制系）；Chalmers University of Technology（查尔姆斯理工大学）；Fraunhofer Institute for Intelligent Analysis and Information Systems（弗劳恩霍夫智能分析与信息系统研究所）
