Paper Info
Title
BEHAVIOR - Benchmark for Everyday Household Activities in Virtual, Interactive, and Ecological Environments.
Abstract
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.
Year
Venue
DocType
2021
CoRL
Conference
Citations 
PageRank 
References 
0
0.34
0
Authors
14
Name
Order
Citations
PageRank
Sanjana Srivastava101.35
Chengshu Li211.37
Michael Lingelbach301.01
Roberto Martín-Martín421.77
Fei Xia5386.53
Kent Vainio601.01
Zheng Lian7128.33
Cem Gokmen800.68
Shyamal Buch991.49
C. Karen Liu1092364.17
Silvio Savarese113975161.69
Hyowon Gweon121015.77
Jiajun Wu1327.15
Li Fei-Fei14224831135.90